Impedance control-based man-machine cooperation method with null-space obstacle avoidance capability

The invention discloses an impedance control-based man-machine cooperation method with null-space obstacle avoidance capability. The method comprises the steps of (1) index coordinate six-degree-of-freedom impedance control, (2) a safety control method for applying an impedance control model to man-machine cooperation and (3) null-space obstacle avoidance. The relative relation between the position and the force in the movement process of the robot is built through an impedance-controlled spring-damping-rigidity model, and the dragging effect and the virtual constraint effect of the human hand on the mechanical arm are achieved. By sensing the safe acting force in real time, damage caused by too large inertia during cooperative operation is avoided. Through research on null-space obstacle avoidance control of the seven-degree-of-freedom mechanical arm, the spatial configuration of the mechanical arm can be changed along with the acting force of a person under the condition that the tail end pose is not change