For current research of dual-arm robot impedance control method, the traditional master-slave control method is not suitable for handling the flexible object, by analyzing the movement characteristics of the research of human arms handling object, a new dual-arm of the impedance of the master-slave motion control method is esatblished. With the introduction of the relative error between the arms and the concept of virtual restoring force produced by the relative error, the disadvantage of the traditional master-slave control is not suitable for handling of flexible body was effectively overcome. The redundant dual-arm robot coordinated handling requirements were realized, the work ability of dual-arm robot was improved, and the dual-arm robot in coordinating each arm movement in the process of handling operation stability was guaranteed. Finally through the arms coordination handling simulation, the feasibility of the method is verified.