The invention provides an
industrial robot collaborative interaction method and
system. The
industrial robot collaborative interaction method comprises the following steps that an
industrial robot kinematics and dynamics model is established, and a base force-torque measuring coordinate
system is determined; length parameters and
mass distribution characteristic parameters of connecting rods of anindustrial
robot are bound; joint motion parameters of the industrial
robot are measured, and filtering
processing is carried out; according to the joint motion parameters of the
robot, motion parameters of all the connecting rods of the industrial robot are solved; according to the motion parameters of all the connecting rods of the industrial robot and the
mass characteristic parameters of theconnecting rods of the industrial robot, the free motion reaction couple of all the connecting rods are calculated, and the reaction couple which is transmitted to a robot base is solved; the fixed reaction of the base is measured, and filtering
processing is carried out; the projection of the interaction external force under the coordinate
system of the base is calculated; and the interaction motion of the industrial robot is controlled. The method and the system can be applied to all the robots with series structures, and through three sub
modes set in the method, the basic interaction capability requirement in the human-
machine cooperation process can be met on the premise of ensuring the human-
machine safety.