针对双机械臂搬运单一物体的协调操作系统，提出了一类有效的最优关节轨迹规划方法。该法在机械臂的关节空间内采用分段归一化的无因次量，将其运动轨迹与运动时间解耦，运用非线性规划法优化无因次量运动轨迹。将所规划的无因次轨迹方程作为机械臂产生实际运动轨迹的发生器，由双臂的运动学约束条件和爪端所允许的不协调误差及各手臂的取道点，即可快速生成所期望的系统运动轨迹。为保证双臂能充分协调运动，提出了调整因子的概念。 Aiming at the coordinated operation system of moving a single object by a two-arm manipulator, an effective method of optimal joint trajectory planning is proposed. The method uses the segmental normalized dimensionless quantity in the joint space of the manipulator to decouple its trajectory from the movement time, and uses non-linear programming method to optimize the dimensionless trajectory. Taking the planned orbit trajectory equation as the generator of the actual trajectory of the robot arm, the desired trajectory can be quickly generated by the kinematic constraints of the two arms and the uncoordinated error allowed by the claws and the access points of each arm The system trajectory. In order to ensure that the arms can fully coordinate the movement, the concept of adjustment factor is proposed.