为针对煤矿井下巷道管道固定式螺纹孔螺栓装配的自动化安全需要，针对配置有六维力／力矩传感器的六自由度机械臂，研究了基于导纳方法的螺栓紧固柔顺操作控制算法。主要内容包括基于六点定位法的重力补偿算法和基于导纳的螺栓紧固柔顺控制算法的理论研究；搭建基于机械臂的螺栓紧固实验系统，开展固定式螺纹孔螺栓装配实验。结果表明：在进行装配时所受力和力矩会有减小的趋势，基于导纳方法的柔顺操作控制算法具有有效性和安全性。

In order to meet the automatic safety needs of the assembly of fixed threaded hole bolts for underground coal mine roadway pipelines, a flexible operation control algorithm for bolt tightening based on admittance method was studied for the six-degree-of-freedom robotic arm equipped with six-dimensional force/torque sensor. The main contents include the theoretical research of gravity compensation algorithm based on six-point positioning method and admittance-based bolt tightening compliance control algorithm. A bolt fastening experimental system based on the robotic arm was set up, and the assembly experiment of fixed threaded hole bolts was carried out. The results indicate a decreasing trend in the forces and torques experienced during assembly, demonstrating the effectiveness and safety of the compliant operation control algorithm based on the admittance method.