Control of dual-arm coordinated motion of Chinese massage robot was discussed in this paper. According to the structural characteristics of the manipulators, the problem of collision avoidance in three-dimensional space was transformed into one in the relevant plane. With the method of plane geometry, a collision avoidance strategy was designed. Kinematic process of collision avoidance of the two arms was simulated by MATLAB. The results showed that the method designed in the paper was effective for coordinated movement between the two arms.