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This paper presents a new human-robot interaction control approach for industrial robot arm. With frame-based knowledge representation, a human-robot system as well as its interaction control process is modeled and defined in the software platform of agents and knowledge management (SPAK). By means of this software platform, human-robot interaction control for industrial robot arm is implemented. In this paper, an actual system comprised of human, humanoid robot (Robovie) and industrial robot arm (MELFA) is constructed and the experimental results demonstrate its effectiveness.