Efficient　and　collision-free　coordination　of　two　robot　arms　is　increasingly　needed　in　various　service-oriented　robotic　applications.　This　paper　proposes　a　dual-arm　coordination　algorithm　to　improve　the　efficiency　of　coordination　by　considering　both　robot＇s　actions　and　operating　sequences　for　tasks　that　require　multiple　operations　with　both　arms.　Teleoperation　demonstration　is　performed　to　obtain　the　robot＇s　human-like　motion　trajectories,　so　as　to　reduce　the　probability　of　collisions　of　the　two　robotic　arms.　The　coordination　diagram　in　time　domain　is　designed　to　more　clearly　represent　the　situations　of　trajectory　collisions　and　find　the　collision-free　coordination　action　law.　Simultaneously,　a　coordination　pair　generator　(CPG)　is　designed　to　reorganize　the　operating　sequences　according　to　the　characteristics　of　input　trajectories　in　addition　to　the　action　coordination.　The　effectiveness　and　efficiency　of　our　method　are　verified　on　the　experiment　of　the　drug　sorting　task　in　nursing　homes　on　the　ABB　YuMi　robot　model.　©　2021　IEEE.