Abstract: According to the multi variation and nonlinear features of the electric and hydraulic control model on the manipulator of the boom type mine roadheader, a study on the variable structure force control of the manipulator on the mine roadheader was conducted.The basic idea was to control each oil cylinder output of the m anipulator in order to trace the expected output of the planning.A force contral model of the lifting and rotary hydraulic system on the manipulator was established.Base d on the deviation of the oil cylinder output as the switching plane, the variable structure contral function was designed.A smooth function was applied to eliminate the v ibration phenomenon on the sliding model.The tracing planning was conducted on the straight line cutting route.The simulation results showed that the variable structur e force control would have an excellent control effect.