Abstract: In order to achieve dynamic compensation of torque sensor in link space,an effective algorithm for calculating the internal force and torque at any point in any link of a serial robot is proposed.This algorithm is derived by Newton-Euler equations using a hypothetical truncation principle of the link.In the deriving process,some situations are taken into account,such as whether the serial robot is static,whether an external force is exerted on its end,and whether each joint of the serial robot is a rotary joint.Then a Cartesian impedance control scheme based on the dynamic compensation of link torque sensor is developed,in which the dynamic compensative values are calculated by the algorithm.Finally,the algorithm and the Cartesian impedance control scheme are verified on five-finger dexterous hand of HIT/DLR Hand.The experimental results demonstrate the validity of the algorithm and the Cartesian impedance control scheme.