Chapter 1 presents the background of the thesis by discussing the reason that why we use the Human-Robot Collaboration solution is that we aim to improve ergonomics and productivity and the problems and objective of this thesis. The problem is that when we introduce the robot in the sharing environment, the safety issue occurs, which is also the most critical aspect for the HRC solution. In chapter 2, the detail of the HRC will be presented, such as definition, safety, work space characteristic, interaction level and 3 types of the HRC concerning the safety . Chapter 3 will talk about the robot components.