• Dynamic modeling and simulation unify rigid- and flexible-link manipulators, enabling end-effector trajectory control through inertia, elasticity, and distributed-mass representations. The approach integrates closed-form and finite-element representations to predict torques and motions for planning and control [1], [10], [8], [15], [17], [4].

• Hybrid position/force control and dexterous manipulation emphasize coordinating contact constraints with motion, addressing redundancy, and evaluating dexterity with sensing integration across control and design [3], [14], [20], [13].

• Geometric and workspace-focused design analyzes kinesthetic geometry, inertia representations, and reachability to shape manipulators; works present geometrical dynamics representations and workspace concepts with embodied design implications [4], [11], [19].

• Knowledge-based design and expert-system approaches advance mechanical design through hierarchical problem solving, design refinement, and computational design abstraction, enabling rapid exploration of alternative mechanisms [9], [18], [16].

• Sensing, compliance, and environment interaction in manipulation underscore the role of perception and contact in dexterous tasks, exemplified by tactile imaging sensors and compliant assembly studies [13], [12].