The invention belongs to the technical field of man-
machine cooperative interaction, and relates to a man-
machine cooperative compliant
interaction method based on fuzzy variable
admittance and
human body motion prediction, which comprises the following steps: step 1, establishing a man-
machine cooperative interaction admittance model, and converting the interaction force applied to an end
effector of a mechanical arm by a collaborator into the end speed of the mechanical arm; 2, designing an
admittance model parameter adaptive law based on a fuzzy theory, dynamically adjusting a virtual damping parameter, and designing a virtual
mass adaptive law based on a virtual damping change condition, so that an admittance model dynamically adapts to a movement mode of a collaborator; and step 3, predicting a
human body motion intention based on the LSTM network, generating an auxiliary speed item, and jointly generating an optimal man-machine compliant interaction speed in combination with an admittance reference speed obtained based on admittance
model transformation. According to the method, the
robot body motion information and the
human body motion intention in a man-machine
system are fully utilized, the self-adaptive admittance
interaction device fused with the motion intention of the
human operator is designed, and the naturalness and smoothness of man-machine interaction are improved.