In order to prevent robot colliding to human during operation, a method of robot safe anti-collision control is presented based on minimized danger index, which can actively improve robot safety. Through real time evaluation of the danger index during robot motion, and once reaching the maximum allowable value of the danger index, a virtual driving force was produced by this method, which could push the robot rapidly away from human in the direction of the minimized danger index, and avoid robot collisions with human. The simulation result verifies that robot safe anti-collision control based on minimized danger index can guarantee human safety in dynamic environment of human-robot coexisting.