The　dynamic　models　of　the　cooperation　of　multiple　robot　arms　with　both　joint　and　link　flexibility　are　developed　in　absolute　coordinates.　Based　on　the　dynamic　model,　the　forward　dynamic　models　have　been　developed　according　to　the　constraints　among　the　cooperating　manipulators.　Assuming　the　actual　mass　center　of　the　cooperated　object,　instead　of　the　nominal　rigid　position　determined　by　the　kinematics　of　the　rigid　link　counterpart,　to　be　the　boundary　constraint　and　to　satisfy　the　anticipated　trajectory,　the　inverse　dynamic　equations　are　obtained.　The　perfect　input　for　the　specified　task　can　be　calculated　from　the　proposed　inverse　dynamic　model,　while　the　proposed　forward　dynamic　model　can　be　used　for　numerical　simulation.　The　proposed　dynamic　models　lay　the　foundation　for　the　design　and　control　of　this　kind　of　system.　The　effectiveness　of　the　method　is　demonstrated　through　simulation　of　two　flexible-link　and　flexible-joint　3R　robot　arms　cooperating　a　rigid　object.