Abstract: For the trajectory planning problem in the collaboration process of dual industrial robots, modeling the IRB200 robot and solving the forward and reverse kinematics of the robot. The coupled motion under tight constraint and superposition motion under loose constraint algorithms are proposed in combination with the solved forward and inverse kinematics. The tight constraint establishes the constant constraint relationship between the robot end-effectors to realize the coupling motion between the robot end-effectors; the loose constraint establishes the time-varying constraint relationship between the robot end-effectors to realize the superposition motion between the robot end-effectors. Finally, the algorithm is verified by the simulation experiments of cooperative handling and cooperative drawing of “copper coins” in MATLAB. The adaptive planning of the trajectory can avoid the separate trajectory planning of the dual industrial robots.