Mrs. Robinson is the original cougar, so to speak.
She seduces Benjamin simply because she is tired of her marriage and wants a fun sexual encounter. Mr. Robinson was most certainly not aware of this.
From the Wiki:
Mr. Robinson, [once he learns about] his wife's affair with Benjamin,
goes to his apartment in Berkeley and berates him, threatening to have
him prosecuted to the fullest extent of the law, should Benjamin ever
come near Elaine again. In the meantime, Benjamin has tried to tell
Mr. Robinson that his wife has manipulated him into having an affair
with her. But Mr. Robinson is also skeptic and refuses to believe him,
and then he forces Elaine to drop out of school and takes her away to
marry Carl. She leaves Benjamin a note, saying that although she loves
him, her father's anger would prevent the family from ever accepting
him as Elaine's husband.
Mr. Robinson was outraged once he'd learnt of Benjamin's actions, blaming him entirely for it.
Rebecca Neumann in an article on the film gave some explanation as to Mrs. Robinson's actions:
The film places significant emphasis on Mrs. Robinson's past as the
motivation for her actions. As a young woman, an unplanned pregnancy
forced her to give up her dreams, drop-out of college, and marry Mr.
Robinson. Years later, her loveless marriage and empty nest bore and
embitter Mrs. Robinson despite her luxurious life-style.
So no, Mrs. Robinson's seduction of Benjamin was most definitely not a plan to keep he and Benjamin apart. It just ended up looking like that due to Mr. Robinson's reluctance to ever let Benjamin near his family again.