The Kremlin and Palestinian guerilla leader Yasser Arafat yesterday declared in a joint communique a "special urgency" to organize a successful opposition to the Camp David accords by other Arab states.

The communique, issued at the end of several days of talks here, calls upon the Arab states of the Middle East to continue united "against the machinations of imperialism, Zionism, and collusion with the agresser . . ."

Arafat, who arrived here Sunday for his third visit of the year, was reported heading for Baghdad where the Arab states begin a summit today to coordinate plans to oppose the peace initiatives of Egyptian President Anwar Sadat.

Soviet support of Arafat's Palestine Liberation Organization, reiterated in the communique, is based on Fremlin demands for a Palestinian nation.

The communique "firmly condemned" the Camp David settlement "as a collusion at the expense of and behind the backs of the Arabs aimed at helping Israel entrench (itself) on captured Arab land, including Palestine, and prevent implementation of the Plaestinians' inalienable national rights."

The Soviet seek a general Middle East peace conference, at which they may play a role. U.S. initiatives have virtually eliminated the Russians as a major factor in Middle East diplomacy, despite the joint pledge of mutual cooperation issued by the White House and the Kremlin last fall.

Western diplomatic sources have said they believe the Russians would press Arafat to oppose more extreme resolutions of opposition that might be offered at the Baghdad conference by other Arab states or other Palestinian factions.

Earlier this month, Syrian President Hafez Assad met with Soviet President Leonid Brezhnev and declared his support for a peaceful steelment. Assad last week negotiated a Syrian-Iraqi reconciliation aimed at thwarting the Egyptian-Israeli peace settlement.

Algerian leader Honari Boumedienne visted the Kremlin for talks after the Camp David summit and is reported to be resting in the Soviet Union, possibly suffering from serious illness.

The communique, apparently underlining Kremlin support of the PLO over other Palestinian groups, declared that the achievement of a Geneva conference to hammer out an overall settlement "requires the collective efforts of all the interested parties with the equal participation in them of the PLO as sole legitimate representative of the Arab people of Palestine."

The United Arab Emirates news agency, reporting from Baghdad, said the declaration was a compromise worked out by a six-member committee representing hard-liners Syria, Iraq and the PLO and moderates Jordan, Tunisia and Kuwait.

The agency said the draft calls for "realizing a military balance with the Zionist enemy and providing the necessary support for the confrontation states as well as to the Palestinian revolution, in addition to rejection of the Camp David accords and abiding by the resolutions of the 1974 Rabat conference."

At the Rabat conference the Arab states recognized the PLO as the sole legitimate representative of the Palestinian people.

The reported draft's language is much softer than the wording proposed by Syria and the PLO, which wanted total economic and political isolation of Egypt andits ejection from the Arab League.