The purpose of this study is to execute a beverage can opening task by an articulated versatile robot arm, which is often executed in our daily life. We generated beverage can opening trajectories for position controlled single robot arm and dual robot arm. We analyzed the humans' can opening operations and generated trajectories for opening the lid of beverage can. They are sequential rotational and translational motions for a single robot arm, and their concurrent cooperated motions for a dual robot arm. We confirmed that the beverage can opening operations by single and dual robot arms are successfully achieved based on our generated trajectories. Additionally, from the comparison of these two trajectories, we found out that the trajectory of the dual robot arm is robust and efficient. And, the configuration of the motions of single and dual robot arms is different, but operations to the beverage can by each robot arm are essentially the same.