In order to shorten the R&D cycle of robot control system and make it easier to operate, a cooperative robot control system was designed based on EtherCAT and TwinCAT3 cthrough the study of TA6-R5 cooperative robot. The D-H method was used to establish the kinematics model, and the forward kinematics analytic solution was obtained. The optimal inverse solution was solved according to the principle of minimum sum of curl angles of all joints, and the kinematics was verified with Robotics Toolbox of MATLAB. TwinCAT3 was used to build a control system to realize programming control and HMI. Data control and feedback were realized through EtherCAT bus with high real-time performance. Finally, the cyclic synchronous position model was taken for Cartesian space trajectory planning, with the Scope View of TwinCAT Measurement adopted for the observation and verification of the system’s implementation. The results showed that the cooperative robot control system based on EtherCAT and TwinCAT3 could reduce the R&D cycle of the control system, improve the R&D efficiency.