Stewart robot sensing and controlling system for flexible automatic assembly is designed on purpose, and the efficiency of system modeling and testing are improved. In Windows environment, based on LabVIEW, Stewart platform as controlling object, a solution was proposed for modeling and calculation of robot six dimension (6D) force measurement and kinematics inverse solutions, then in the experiment platform of PC+ movement control card (IMC3062E) and PC+ data acquisition card (PCI8605) hardware platform, the system was developed and tested. Experiments present that the sensing and controlling system developed can measure 6D force or moment effectively, and implement velocity control of the dynamic platform.