Under the trend of intelligent development of the manufacturing industry in the world today,more and more attention is paid to the use of robots and flexible production in the product manufacturing process.The light and flexible collaborative robots can effectively improve the work efficiency and realize the complementary advantages of human and robots.But in the open environment of human-robot collaboration,dynamic obstacles such as peoples trajectory is time-varying and uncertain.In order to make the human-robot collaboration process more safe and smooth,robots need to understand what humans are doing,predict the next step trajectories of the human body,and accordingly carry out their own sports planning.In particular,it is important for robots to have the ability to make early predictions.In order to ensure the safety of operators in the human-robot shared space and time,and make the human-robot collaboration more efficient,the research progress of human motion prediction method in human-robot collaboration safety strategy was introduced,its development trend and the future research direction were discussed.