This paper takes double SCARA robot as the research object and uses the computer graphics method to get the collision detection method of two robotic arms at a certain moment. On the basis of collision detection, the C-space method is used to plan the collision avoidance path for the two robots and the two robots considering the end-effector, and the collision avoidance algorithm for the double SCARA robot is obtained. Then, the simulation experiment is carried out to verify the correctness of the algorithm.