The design of trajectory planning concepts for the realtime control of multirobot systems still deserves attention due to unsolved problems that arise, if manipulators work together cooperatively. Coordinated operation of robots is an efficient approach to perform tasks, which require the handling of large, heavy or sensitive loads. In order to take full advantage of the inherent multirobot capabilities, the variety of tasks ranges from independent operation of individual robots to the execution of tasks with several manipulators working together cooperatively. The object-oriented concept presented here offers a uniform approach for the trajectory planning of both individual and coordinated robot movements. The basic concept of trajectory planning had to be extended systematically to provide all the functionality necessary for cooperative tasks. As dynamic limitations of individual robots due to the approaching to singular configurations are of increasing importance in the case of coordinated operation, algorithms which are able to cope with singularities in multirobot systems have been implemented. The algorithm presented here supports teleoperation by means of six dimensional sensor balls and automatic execution of paths as well. Due to the pathtracking properties of the algorithm, deviations from the desired trajectory can be avoided. This ensures the accurate execution of trajectories generated offline with the help of CAD-tools. Integrating this method into the hierarchical trajectory planning system offers both userconformable and safe operation taking automatically account of the kinematic restrictions imposed by the load. This approach has been experimentally verified in the scope of the CIROS-project (Control of Intelligent Robots in Space) where a concept for space automation with the aid of robotics has been elaborated and exemplarily realized. The entire system contains components for man-machine- interaction, planning, world modeling, simulation, coordinated operation and collision avoidance which cooperate in several time spheres on different levels of abstraction. By means of a tool exchange facility two robots with seven degrees of freedom each are equipped with appropriate endeffectors to perform a wide range of handling tasks. This paper concentrates on the aspect of multirobot control as a part of work in the field of coordinated operation, where independent and coordinated operation as well as the modes of automatic pathplanning and teleoperation have been implemented to provide the functionality required for the control of robots in the CIROS project.