Abstract: A method of virtual environment calibration for remote welding based on surface tracking with robot force control is proposed.The force control strategy for surface tracking is based on the transection contour of force sensor coordinate system,and spatial locations of the contact points are measured precisely.The problem of virtual environment calibration for T-pipe part is solved with the direct least square fitting algorithm of elliptic tracking trajectory and the T-pipe part calibration algorithm.Experimental results show that the presented method can realize virtual environment calibration with high precision,and the virtual environment model accuracy can meet the requirements of remote welding contact task with passive compliance.