In order to improve the control and teaching level of industrial robots, In this paper, through the method of designing zero-force control system and PID position control system of SEA joint manipulator and setting up corresponding simulation system, at the same time the method of force tracking experiment of series elastic actuator is carried out, The correctness of zero-force control system and the feasibility of control algorithm for joint manipulator with series elastic actuator are studied. The results show that the zero-force control system and control strategy designed in this paper can improve the flexibility and control efficiency of the robot. It can be seen that the driving control method based on force/position mixing can realize the teaching function of the robot while reaching the designated positio