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This paper presents techniques and methodologies for trajectory planning and motion control of a two-armed robot with two 7-DOF arms. The trajectory planning regarding robot's postures is achieved by first finding several via-postures and then connecting them using the B-spline curve approach. Given robot's posture, an analytical inverse kinematic solver is proposed to find a set of seven joint angles with respect to each selected posture. Trapezoidal velocity profiles are employed to obtain trajectories of all joints simultaneous. The motion control of each 7-DOF arm is done by utilizing PIV controllers, in order to tracking position and velocity commands simultaneously. Simulation and experimental results are conducted to examine the efficacy of the proposed trajectory planning and motion control method.