Human-Robot collaboration is an innovative technology of human and robot working together in an interactive way, which is provided with the dexterity of human and the precision of robot. Human-Robot collaboration is widely used in industrial field, and is also apopularitem inrobotics. This paper reviews the research of Human-Robot collaborative assembly. Firstly, several closely related 6D pose recognition methods are introduced, their relative merits and application statusin Human-Robot collaborative assembly are discussed comprehensively. Secondly, the research progress of human intention recognition applied in the field of Human-Robot collaborative assembly is reviewed from two aspects of visual recognition and forcere cognition. Then, the present situation of collaborative controlt echnology applied in Human-Robot collaborative assemblyis analyzed, the basic principles and key technologies of several main control methods are briefly introduced, which provided research reference for rational application of Human-Robot collaborative assembly in various fields. Finally, the future development trend of Human-Robot collaborative assembly is discussed.

Human-Robot Collaborative Assembly, 6D Pose Recognition, Human Intention Recognition, Collaborative Control, Review