In order to improve the coordination of the motion of the dualarm robot, a coordinated control system was designed, and the trajectory tracking error and angular velocity change of the manipulator were simulated and verified. The threedimensional model of the dualarm robot was created, and the motion trajectory error formula of the endeffector of the manipulator was deduced by using relative Jacobian matrix, and the motion coordination controller of the manipulator was designed. According to the hierarchical priority task structure,the angular velocity equation of the manipulator joint was deduced. The joint avoidance strategy of the dualarm was designed, and the dualarm movement was coordinated through the priority. In order to verify the coordination and stability of the manipulator motion under joint constraints, the trajectory tracking error and angular velocity change of the manipulator were simulated by using MATLAB software, and the output effect was compared with that without joint constraints. The results show that without joint constraints, the motion trajectory error of the singlearm robot is small, but the motion trajectory tracking error of the dualarm robot is large, and the angular velocity peak generated by the dualarm is large; with joint constraints, the motion trajectory error of the singlearm robot is large, while that of doublearm robot is small, and the angular velocity peak generated by the dualarm is small. Using joint restriction strategy can improve the coordination of the manipulator motion, reduce the peak value of the angular velocity of the manipulator, and the motion is relatively stable with good results.