With the development of manufacturing industry, the demand for continuous contact operation of robots is increasing. In order to meet robot contact work, a compliant control algorithm is needed to avoid unnecessary losses. By using the F/T sensor between the end of the robot and tools, the contact force between the robot and the environment can be obtained. Based on this, a wide range compliance control method in the gravity environment is proposed in this paper. In order to remove the influence of the gravity of tools on the force/torque sensor measurement, we use the method based on the kinematics of manipulator to compensate the gravity in real time. By using the position-based impedance control strategy in joint space, the contact force between the manipulator and the environment can be controlled. So that we can achieve the compliance control in any position or posture without the aid of additional equipment. And we design an experiment to prove the effectiveness and feasibility of the method.