To　solve　problems　of　the　efficiency-low　and　process-complex　of　the　traditional　operation　by　operating　the　teaching　box　to　move　the　six　axis　industrial　robot　to　the　specified　location.　EtherNet　was　taken　as　the　communication　bus,　an　embedded　system　was　introduced　into　the　compliant　tracking　control　(force-free　tracking)　of　a　six　axis　industrial　robot　and　a　force-free　tracking　model　based　on　stiffness　control　of　the　six　axis　industrial　robot　was　proposed.　In　the　model,　in　order　to　get　the　size　information　of　six-dimensional　force　of　the　robotic　end,　the　force　signal　of　the　six-dimensional　force　sensor　was　decoupled　and　its　coordinate　was　transformed.　Meanwhile　a　trajectory　prediction　algorithm　was　designed　to　confirm　the　information　of　the　six-dimensional　and　the　direction　of　the　next　target　by　the　offset　of　the　input　position　controller　which　was　calculated　by　the　stiffness　matrix.　Finally,　the　robot　adjusted　its　position　and　attitude　according　to　the　inverse　solution　of　kinematics　equation.　The　experimental　results　show　that　the　robotic　end　can　pass　the　scheduled　orbit　smoothly　and　quickly　under　the　action　of　three　differently　directional　tractions,　provided　a　method　for　compliant　tracking　control　of　direct　teaching　system.　©　2017,　Editorial　Department　of　Journal　of　Beijing　University　of　Technology.　All　right　reserved.