With　the　increasing　number　of　human-robot　interaction　applications,　robot　control　characteristics　and　their　effects　on　safety　as　well　as　performance　should　be　taken　account　into　the　robot　control　system.　In　this　paper,　a　position　and　torque　switching　control　method　was　proposed　to　improve　the　robot　safety　and　performance,　when　robots　and　humans　work　in　the　same　space.　The　switching　control　method　includes　two　modes,　the　position　control　mode　using　a　proportion-integral　(PI)　algorithm,　and　the　torque　control　mode　using　sliding　mode　control　(SMC)　algorithm　for　eliminating　swing.　Under　the　normal　condition,　the　robot　works　in　position　control　mode　for　trajectory　tracking　with　quick　response.　Once　the　robot　and　human　collide,　the　robot　will　switch　to　torque　control　mode　immediately,　and　the　impact　force　will　be　restricted　within　a　safe　range.　When　the　robot　and　human　detach,　the　robot　will　resume　to　position　control　mode　automatically.　Moreover,　for　a　better　performance,　the　joint　torque　is　detected　from　direct-current　(DC)　motor’s　current　rather　than　the　torque　sensor.　The　experiment　results　show　that　the　proposed　approach　is　effective　and　feasible.　©　2018,　Institute　of　Automation,　Chinese　Academy　of　Sciences　and　Springer-Verlag　GmbH　Germany,　part　of　Springer　Nature.