This paper presents the kinematics programming for Cooperative Robotic Systems (CRS), based on screw theory approach. It includes a systematic for modeling and programming robotic systems composed by any number of robots (not necessarily identical), working cooperatively to perform different tasks. In order to illustrate the application of the systematic, an example of CRS including four robots is presented. The kinematic computation of a CRS is made through the screw theory approach and its tools, like the Davies method and Assur virtual chains.