The work aims to propose a dual-arm collaboration algorithm with real-time obstacle avoidance function to ensure the safe operation of dual robotic arm system in packaging operation environment. Firstly, the relative Jacobian matrix was obtained according to the relative position relationship of the dual arms, so as to control the relative position of the end of the dual arms to achieve the effect of dual-arm collaboration. At the same time, the algorithm utilized the redundancy characteristic formed by the dual robotic arms to carry out autonomous motion planning, and the dual-arm configuration was adjusted in real time according to the position of the obstacle and the relative position of the dual arms to achieve the effect of zero-space obstacle avoidance. The algorithm was then verified by establishing a dual robotic arm simulation. When dual arms were performing collaborative tasks, the distance between the robotic arms and obstacles was greater than 0.18 m, and the distance between the dual arms was greater than 0.25 m. This method not only realized collision-free motion of the dual arms, but also maximized the use of redundant degrees of freedom of each mechanical arm, improving the flexibility of motion and optimization space, and achieving operation at a smooth speed without large sudden changes. The dual-arm collaboration obstacle avoidance algorithm proposed can realize the collision-free function of dual-arm collaboration, which has certain application value in complex environments such as packaging operations.