Abstract: Aiming at the slow dynamic response and poor accuracy in the six-degree-of-freedom spatial docking semi-physical simulation, a force-compliance-based semi-physical simulation technology for series robot docking is proposed. The gravity compensation and the admittance control are integrated to simulate the real compliant docking motion by combining the robot and the mathematical model. The drive delay compensation is invoked to improve the system performance to meet the requirements of high accuracy, high degree of freedom, good sensor fusion, and fast dynamic response. The experimental results show that the proposed method enhances the external force perception accuracy of the robot, and at the same time improves the dynamic response speed and docking accuracy of the force-following compliant docking process.