Abstract: With the widespread use of industrial robots in all walks of life, a single robot can no longer meet the requirements of large-scale workpiece handling, complex welding, and hole shaft assembly. In the research of dual robots, the most important problem is how to ensure that the motion between the two robots meets the time and space constraints, that is, the coordination of multiple movements of the two robots. In this paper, the cooperative motion under tight and loose constraints is analyzed by using the examples of cooperative handling and collaborative writing of two robotic arms, and the kinematic coordination relationship is analyzed, and the robot constraint relationship is studied through the workpiece or main body motion trajectory to construct a two-machine collaborative system. Stability verification is carried out in Matlab, and the proposed theory is verified for reliability.