In　this　paper,　we　firstly　utilize　screw　theory　and　differential　geometry　to　establish　the　dynamic　model　of　the　multi-armed　coordinated　manipulation　system.　Fingertips　are　considered　as　soft　finger　and　the　points　of　contact　are　not　fixed　when　the　object　is　moving.　Then,　we　make　trajectory　planning　with　minimal　torque　for　coordinating　redundant　robots.　Finally,　comparison　between　hard　point　and　pure　rolling　contact　is　made　via　simulation　examples.　The　effectiveness　of　the　proposed　model　is　verified　and　the　results　are　satisfactory.