This paper addresses issues of dynamic modeling and end-effector trajectory control for two serially connected robots: a flexible macroarm and a rigid microarm, which is carried by the macroarm. First, a dynamic model is presented using Hamilton's principle and the finite element method. Based on this dynamic model, a new end-effector trajectory control method is proposed. Based on this method, the control system design is divided into two stages. The first stage is concerned with the design of an ideal manifold on which the desired dynamic performance of the system is quaranteed. In the second stage, the end-effector trajectory control scheme which governs the motion of the system converging to the ideal manifold is derived. Stability of the system is demonstrated using the Lyapunov stability theory. Simulations are carried out to illustrate the effectiveness of the proposed control method.