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It is believed that from this point forward, there will be a need for industrial robots that work alongside and cooperatively with humans. However, the current development of existing robotics technology is inadequate to ensure the safety of such new industrial robots. Our research proposes a safety-planning technology called coexistence hazard avoidance technology, designed for use with a low-powered human-collaborative industrial robot. We load this technology into a risk-management simulator and verify that by using it, a dynamic planning method for the safe operation of robots can be reasonably undertaken in terms of both theory and calculation.