The paper describes relevant topical issue of production automation on the example of designing a collaborative robotic system. It proposes a classification of group control that can be applied to mixed heterogeneous teams that include humans and collaborative robots. The classification provides control system with a combined control strategy. Methodological recommendations are given for task allocation problem among the participants of a such system. It using a method and task allocation algorithm that implements it in order to minimize costs. Requirements to the problem solution and mathematical support are given in this paper. Performance criteria for a collaborative robotic system with a minimization of the sum-of-costs approach are described, depending on the distributed workload and the performance of the system participants who perform the work. This work shows a detailed task allocation algorithm among the participants of a collaborative robotic systems.