Abstract: In this paper, based on the Newton-Euler recurrence algorithm, on-line control algorithm is developed which can be used for the real-time control of dual-arm robot. This algorithm includes three sections, one is the on-line control algorithm of kinematics, second is the algorithm of load optimal, and third is the on-line control algorithm of inverse dynamics. The recursive computation formulas of kinematic and dynamic not only is given, but also the minimal load distribution is developed with the least-norm of load as a objective function. By this method, the applied value of the on-line control algorithm can be increased.