In　consideration　of　the　delaying　control　caused　by　the　complexity　of　inverse　kinematics　of　7-DOF　redundant　robots,　a　new　control　method　of　human-robot　interaction　is　presented.　A　method　to　transfer　data　between　motion　capture　system　and　Robai　manipulator　system　in　real　time　is　designed.　Under　Windows　7,　the　corresponding　server　and　client　can　be　set　up　by　using　VC　of　Microsoft　Visual　Studio　and　the　data　among　different　systems　can　be　exchanged　and　transported　in　real　time　through　data　processing　algorithm.　Compared　with　the　traditional　solution　of　inverse　kinematics　of　robot,　a　comprehensive　method　is　adopted　to　use　the　information　of　different　human　arm　positions　in　the　motion　capture　system　to　calculate　the　manipulator＇s　joint　angle　and　analysis　solution　is　derived.　It　can　reduce　the　amount　of　calculation　of　the　controlling　system　and　the　real-time　control　of　the　manipulator　is　realized,　so　that　it　meets　the　need　of　synchronization　of　the　experimenter　and　Robai　manipulator　in　real　time.　The　validity　of　the　method　is　verified　and　the　satisfactory　results　are　achieved　through　the　experiments.　©　2013　Journal　of　Mechanical　Engineering.