The book "Multi-Arm Cooperating Robots" offers a comprehensive analysis and innovative solutions for the control of cooperative systems. The authors, M.D. Zivanovic and M. Vukobratovic, present a detailed examination of the physical foundations of cooperative manipulation. They divide their research into three central tasks: First, the static, kinematic, and dynamic characterization of cooperative systems is addressed. Next, the problem of coordinated movement of these systems is solved. Finally, the control laws for cooperative manipulation are developed. A central element of the work is the introduction of elastic properties into the system to minimize uncertainties in force transmission. The application of the finite element method for the static and dynamic analysis of elastic structures represents an innovative approach that distinguishes itself from the common methods in the literature.