In　this　paper,　considering　the　control　difficulty　of　the　unmanned　aerial　manipulator　(UAM)　interacting　with　environments,　a　force　analysis　during　gliding　grasping　and　a　hybrid　force/position　control　strategy　are　proposed　for　the　UAM　to　enhance　control　performances　during　dynamic　gliding　grasping　respectively.　First,　the　instantaneous　contact　force　during　the　gliding　grasping　is　analyzed　by　the　impulse　and　momentum　theorem,　and　some　factors　affecting　grasping　performance　are　considered　to　complete　an　analysis　of　grasping　force　including　the　irregular　shape　of　the　object,　the　object　scrolling,　and　geometrically　asymmetric　grasping.　Meanwhile,　the　mass　of　the　grasping　object　and　the　inertia　tensor　are　considered　unknown　bounded　items.　As　a　benefit,　an　accurate　dynamics　model　of　the　UAM　gliding　grasping　is　guaranteed.　Second,　a　hybrid　force/position　controller　based　on　an　adaptive　neural　network　estimator　is　adopted　for　UAM　to　overcome　both　internal　disturbances　and　external　disturbances.　The　proposed　method　stability　is　analyzed　through　the　Lyapunov　stability　theory.　Finally,　through　a　dynamic　gliding　grasping　simulation,　the　effectiveness　and　superiority　of　the　proposed　scheme　are　verified.　(C)　2021　ISA.　Published　by　Elsevier　Ltd.　All　rights　reserved.