Abstract: In view of the complex unstructured environment, small workspace, and susceptibility to collisions in trajectory planning for cooperative operation of dual-arm robots in constrained environment, an optimal trajectory planning method for autonomous collision avoidance and dexterous operation of dual-arm robots was proposed. Based on the modeling of complex constraint environment of 3D point cloud scene reconstruction, the safe and dexterous operation tasks were abstracted into mathematical constraint forms. A dual-arm coordination optimization model for planning multiple dexterous operation motion was constructed to realize autonomous collision avoidance and optimal dexterous operation of the dual-arm robots in complex constrained environment. Finally, the feasibility of the above method was verified by the simulation and experiment of satellite accessory assembly task.