When traditional position-based fixed impedance controller conducting compliant control,the performance of force tracking depends on the various uncertain disturbance factors.Besides,the control parameters input in the controller are determined by a series of experiments.Once factors of the disturbance are changed,these parameters also need to be recalibrated.To reduce the effect on force tracking caused by the uncertainty of various disturbance,and to avoid the inconvenience of recalibrating,a trajectory adjustment compensator was designed based on the force deviation and velocity at the extremity,so that the factors of impedance were able to be adjusted indirectly and eventually the adaptivity of the system was enhanced.The simulation results show that the steady-state error of force tracking under 20 N expected force is within 5%,and the time of transiting back to steady-state is shorter compared to the fixed impedance control method,which shows the system with this compensator is able to adapt to the uncertainty better.