Abstract: The control of the robot by force is an important part of human-computer interaction. The six- dimensional force sensing mechanism is integrated with robot control technology, and the force information is used as the control input of human-computer interaction system, the follow-up control strategy with the characteristics of quick response and stable operation is proposed, the human-computer interaction system consists of six- dimensional force sensing system, host computer and the robot control system is established. The following motion control of the robot to the operator is realized. Based on this platform, the control strategy of axle hole assembly is formulated, and the axle hole assembly is tested, In order to compensate the influence of the coupling forces in the movement process of the end effector of the manipulator, the calibration experiment of the six-axis sensor during the operational process was carried out, the Actual compensation model of experiment and theoretical model are compared and analyzed, and force compensation was performed on the robot end effector, the results show that the human-computer interaction system has a good effect, this study provides a powerful reference for the problem of uncertain initial orientation in the assembly and complex trajectory planning of industrial robots.