In recent years, industries have been looking for ways to make production more flexible without losing efficiency. One promising approach is human-robot collaboration (HRC), where robots and people share the same workspace. Robots are well-suited for precise, repetitive actions, whereas humans are better at adapting to small variations and making quick decisions. Assembly is a natural test case: many operations still need human judgment, but robots can reduce strain by handling lifting and positioning. However, to work well together, the system must provide an easy way to assign tasks and ensure safe, compliant motion during contact. This thesis project addresses human–robot collaboration for industrial assembly.