Abstract: Extending the idea of impedance control for single manipulator, we derived the dynamic model and object-oriented control algorithm for cooperative multi-robots based on the object target impedance relationship. This algorithm accommodates various grasp types, considers the information at the contact point of the object and the environment, compensates the dynamics of the system, and controls the object motion as well as the result force and internal force at the same time. On the other hand, this algorithm has a modular structure and its hierarchic and parallel implementation shortened the control period. At last, the experimental results on two PUMA 562 manipulators verified the efficiency of this method.