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To address the future demand for on-orbit modular construction of large space telescopes, this paper proposes a cooperative assembly method for modular sub-mirror units based on visual measurement and trajectory optimization. A modular sub-mirror assembly system is established, incorporating an AprilTag-assisted pose estimation framework. On this basis, a 3-5-3 polynomial trajectory planning approach and an improved Dung Beetle Optimizer (DBO) are introduced to achieve multi-objective optimization of the assembly path. Experimental validation is conducted on a dual-arm UR robotic platform, demonstrating the effectiveness of the proposed method in terms of assembly accuracy, execution stability, and trajectory tracking performance. The results indicate that the proposed approach satisfies the requirements for efficient, robust, and compliant assembly, and exhibits strong feasibility and potential for practical application in space-based modular optical systems.