Brain-controlled technology based on brain-computer interface （BCI） has developed rapidly and made great progress. However， the existing research mostly adopts the single-person brain-controlled manner， which has the problems of poor execution efficiency and low degree of controllability， making it difficult to meet the needs of complex manipulation tasks. To address this problem， this study adopts a time-frequency-phase hybrid encoding method， and designs a collaborative strategy. A two-person collaborative brain-controlled robotic arm system with 108 instructions has been developed， enabling two people to write Chinese characters simultaneously one stroke by one stroke. The average online accuracy of the eight subjects is 87.92%， and the corresponding average online information-transfer rate （ITR） is 66.00 b/min. This system extends the BCI information interaction manner， and preliminarily verifies the feasibility and effectiveness of collaborative BCI manipulation of robotic arm. It provides technical support for collaborative BCI.