Consideration of dynamics is critical in the analysis, design, and control of robot systems. This article presents an extensive study of the dynamic properties of several important classes of robotic structures and proposes a number of general dynamic strategies for their coordination and control. This work is a synthesis of both previous and new results developed within the task-oriented operational space formulation. Here we in troduce a unifying framework for the analysis and control of robotic systems, beginning with an analysis of inertial prop erties based on two models that independently describe the mass and inertial characteristics associated with linear and angular motions. To visualize these properties, we propose a new geometric representation, termed the belted ellipsoid, that displays the magnitudes of the mass/inertial properties directly rather than their square roots. Our study of serial macro/mini structures is based on two models of redundant mechanisms. The first is a description of the task-level dy namics that results from projecting the system dynamics into operational space. The second is a unique dynamically con sistent relationship between end-effector for
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