This paper presents a proposed taxonomy for collaborative robotics, encompassing a detailed classification based on various technical and functional characteristics applicable to robotic equipment in the context of collaborative tasks. The proposed taxonomy includes thirteen categories and arises from the need for an initial reference framework for the analysis and classification of robots, allowing not only the identification of yet uncovered research topics but also serving as a starting point for classifying different types of current robots. This will help determine whether they can be used in shared spaces with people or not, given that today there are robots with unique characteristics that make it difficult to ascertain their suitability for use in shared spaces. This is due to the fine line between what can be considered a collaborative robot and one for general or industrial use.