This work presents an optimization method applied to robot coordination using temporal synchronization. The coordination process considers the possibility of using multi-robot systems in which each robot executes individually planned tasks in a shared environment. The coordination process generates a curve in a discretized coordination space that contains the sequence of coordinated configurations of the robots, this curve can be optimized in order to minimize the backward movements of the robots during their path execution. The optimization method was implemented for a two arm robotic system, a comparison between the executions with and without optimization was performed, and two illustrative experiments are presented in this paper.