The flexibility provided by collaborative robotics is making it increasingly relevant in industrial scenarios. However, this growth is also highlighting the existing limitations and integration challenges of both collaborative robotics and the AI that supports many of its applications. This paper outlines the main challenges identified that hinder the integration of Human-Robot Collaboration at different levels of interaction: physical contact management, object handling, environment avoidance, task scheduling andmanagement and task scheduling adaptation. These challenges have been focused and analyzed from the perspective of the specific use cases of the AI-PRISM project.