It is difficult for the present mature assessment method comprehensively evaluating the human-machine interaction system of industrial robot, an interaction comprehensive evaluation system with 4 dimensional index is proposed. The industrial robot interaction system and interaction function are described. And the ABB, Kawasaki and UR robot teaching process are preliminarily evaluated by an interaction comprehensive evaluation system. The results show that the system has a certain guiding value and can provide a new method for the study of the human-computer interaction system of industrial robots.