In order to solve the problem of grinding space limitation and low precision of workpiece in actual machining and improve the trajectory tracking effect of robot operation, a dual-arm robot trajectory tracking control method was proposed. Taking the hub grinding as the research background, PD control was adopted on the master-slave gripper robot to grip the grinding workpiece for controlling the position of tracking movement. The impedance control with a based position was used in the grinding robot to realize the force control and end position compensation and improve positioning accuracy. A simulation model was designed based on MATLAB/Simulink to verify the feasibility through the comparison between simulation results and finished experiment. The experimental results show that when the end of the manipulator is under the action of external interference force, it can track and correct the trajectory adaptively and meet the requirements of the trajectory tracking control of the dual-arm robot.