Collaborative robot (cobot) is a kind of robot system which can realize physical human-robot interaction and perform cooperative tasks in shared workspace. Collaborative robots are gradually integrated into human society

and interact with human beings

other robots or unstructured environment closely and complicatedly. For the physical robot-environment interaction process

external force perception and interaction control are very important to ensure its safety and improve its interaction performance. In this paper

the research status of collaborative robot is summarized from three aspects: external force perception

collaborative control and cognitive control

and the research prospect of collaborative robot perception and control is also discussed.