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In order to meet the sensing demand of the contact force between the end load of industrial robot and external environment, a force sensor was installed between the end of robot and load. Force sensor can provide force sensing function in the process of industrial robot operation, which was the basis of robot compliance control. The robot motion system based on force perception control can realize dual control of force and position in the process of robot operation by perceiving the contact force of external environment. In order to improve the robot’s perception accuracy of contact force and achieve accurate compliance control, a robotic compliance control method was proposed based on force sensor gravity compensation. The force sensor data of the robot in different postures was firstly collected by adjusting the posture of the robot end, and the installation tilt angle of the robot base, the bias of sensor and the center of gravity coordinates of the end tool were calculated. Then, the robot attitude transformation matrix was used to realize the gravity compensation of the sensor and provide accurate force perception for robot compliance control. Finally, the admittance control method was adopted to realize the robot’s grasping and handling of objects. The force sensor gravity compensation experiment and the robot flexible placement experiment were carried out. The experimental data analysis and experimental results showed that the proposed method can improve the accuracy of robot’s perception of the external environment and achieve accurate robot flexible control.