Collaborative robot has been widespread application prospect, such as homes, manufacturing, and health-care etc. In physical human-robot interaction, the external force appears inevitably in contact with environment or human, especially the interactive tasks such as trajectory tracking requirements and force compliance control. In this article, a method based on interaction intention estimation, which solve the problem of trajectory tracking accuracy and force compliance control in the same direction for the 7-DOF robot, is proposed. The increased virtual force depended on the manipuility performance index and inverse kinematic solution used the kinematic decoupling method based on the redundant angle avoid the singularity of redundant robot. Then, based on interactive intention estimation, a control strategy of variable impedance sliding mode theory in the presence of virtual force and contact force is proposed to achieve the trajectory tracking. We adopted hyperbolic tangent function to alleviate the chattering problem caused by switch function and validated the control system stability by Lyapunov theorem. Finally, Matlab simulations exhibit a 97.8% of high tracking accuracy amid the external force is 43% less than variable impedance parameters. It is therefore proved that the proposed method can achieve asymptotic tracking and the compliant behavior in physical human-robot interaction.

协作机器人有着广泛的应用前景，如家庭、制造、医疗保健等。在人机物理交互中，与环境或人体接触时不可避免地会出现外力，特别是轨迹跟踪要求和力等交互任务。合规控制。本文提出了一种基于交互意图估计的方法，解决了七自由度机器人的轨迹跟踪精度和同方向力柔顺控制问题。增加的虚拟力取决于操纵性能指标，逆运动学求解采用基于冗余角度的运动学解耦方法，避免了冗余机器人的奇异性。然后，基于交互意图估计，提出了虚拟力和接触力存在下的变阻抗滑模理论控制策略，实现轨迹跟踪。采用双曲正切函数来缓解开关函数引起的抖振问题，并通过李雅普诺夫定理验证了控制系统的稳定性。最后，Matlab仿真显示，在外力比可变阻抗参数小43%的情况下，跟踪精度高达97.8%。因此证明该方法可以实现渐近跟踪和物理人机交互中的顺从行为。