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The key problem of upper limb exoskeleton man- machine coordinated control system is Cartesian coordinate system signal convert into joint coordinate’s moment. Singular points almost exist in the processing all the time. A new control system based on dynamic model of force control is proposed in this paper. Damped least squares method is used to handle the load,and the load torque compensation quality,avoiding singularity. In addition,the sensor at the end of exoskeleton actuator is used to measure the force between the exoskeleton and the load,and the user's motion intent is reflected by interaction automatically. Experimental results show that the proposed control system has a very good stability and load resistance,when the load is applied,The steady-state error between the end position of the exoskeleton that not loading anything and the end position of the exoskeleton that not loading 5kg is reduced to 0.01 um,and this is quite meet the upper limb exoskeleton lifting heavy demand.