The next generation of the manufacturing industry calls for new approaches with smarter functionalities and better/safer working environment for human beings. The Human-Robot Collaboration (HRC) approach provides a feasible solution combing the flexibility and intelligence of a human, together with the accuracy and strength of an industrial robot. However, in the past years, despite the significant development of different HRC approaches, there is still a lack of clear safety strategy for an HRC system. Thus in this paper, the extensive taxonomy of the human-robot relations are first defined to provide a clear classification in different robotic scenarios. Then a comprehensive action strategy is developed toward different scenarios and human stakeholder’s roles. A dynamic HRC layout approach is also introduced based on the actual speed of human and robot and the distance between them. The feasibility of the proposed approaches in this paper is then evaluated via the implemenntation in an HRC-based assembly cell. The operator’s biometric data is also included in the HRC control loop. It is proven achievable to conduct personalised HRC safety strategy based on the human stakeholder’s role, physical conditions, speed and so forth. The future research outlooks and essential considerations are addressed at the end of the paper.