Abstarct: Cable robots as the group’s industrial robot used in this study has important industrial capabilities such as: simplicity, light weight, low cost and high payload.In this regard, the interaction between robots and human, the task of bearing the weight of the robot and the operator of the tool be studied. In this thesis, the forces of the tool to cables regardless of the reaction process, calculated by And then force the polishing process of hunting & Moments reaction of tools to the robot cable, the interaction tool and the workpiece and the robot is shown in full.The loading of the proposed algorithm for dynamic interaction between human and tool is intended. In this loading, the workpiece, the tool robot and human disturbance or nuisance into force, the reform path and maintain stability and balance of play. Finally, with regard to the forces applied to the end-robot, was designed motor cable.