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.