This paper presents a computational method for
obtaining an optimal control trajectory for point-to-point motion of a
cooperating robot carrying a flexible object. To increase the overall
productivity and its efficiency, it is required to move the
object as fast as possible using the maximum capacity of
actuators of robots. If the carrying object is very sensitive
to vibration, the robots should be operated so as not
to cause excessive vibration of that object. This work deals
with optimal input design for cooperative robots to reduce vibration
of flexible objects that are handled at speed, under firm
constraints on control torques.