Abstract: At present, there are some problems in the control of heavy-duty manipulator, such as rigid flexible coupling and poor human-machine interaction. Based on the dynamic model, the closed-loop force / position control algorithm of human-machine interaction is designed, and the 7-DOF control system of heavy-duty manipulator is designed and studied according to the algorithm. Firstly, on the basis of in-depth analysis of the working characteristics and existing problems of heavy-duty manipulator at home and abroad, in order to enhance the human-computer interaction characteristics of the system, a human-computer interaction mode based on force / visual feedback is proposed. Secondly, in order to solve the control problem caused by rigid flexible coupling, the rigid flexible coupling dynamic model is established, and the arm force / position closed-loop control algorithm of heavy-duty machinery is proposed. Finally, the heavy-duty manipulator control system is established, which includes five parts: environment perception subsystem, information processing subsystem, driving subsystem, communication subsystem and human interaction subsystem. On this basis, the heavy-duty manipulator control system is tested. The test results show that the control system meets the human-computer interaction function, and the operation efficiency is improved by 70% compared with the traditional heavy-duty manipulator control system, and the safety of the operators is effectively guaranteed. In addition, the control system has good applicability and human-computer interaction friendliness.