The body of work being submitted for the Doctor of Engineering degree is centered on the topic of coordination of robotic systems. At first glance it might seem that this is a convenient umbrella under which to draw together papers written about much more narrowly focused problems, which are only related by my own area of technical expertise and interest. However, since the publication of "Series-Parallel Dualities in Actively Coordinated Mechanisms," by Waldron and Hunt (1.2), which really did have very broad, generic implications, my work has been motivated, in part, by a search for truly generic principles applicable to robotic coordination in general. With this as a unifying and motivating principle I do believe that the papers gathered here provide deeper insights in combination than they do as individual publications. All of the work submitted here was done during my employment as a member of the academic staff of the Department of Mechanical Engineering of The Ohio State University. None of it has been submitted to meet the requirements of any other degree by me. My dissertation for the degree of doctor of philosophy was on a different topic: the constraint analysis of mechanisms. In fact, at that time the subject of robotics could hardly be said to exist since the first tentative experiments with computer controlled manipulators were conducted contemporaneously with my doctoral work. Many of the papers submitted here are co-authored with my own students and some of the material has been submitted as parts of their doctoral dissertations. In those cases, my contributions to the work are identified on the title sheet preceding each paper. It has been my practice that whenever a student has contributed substantially to a joint publication, the student is cited as first author even if it could be argued that mine was the greater contribution. Thus, those papers on which I am listed as first author are largely my own work. The use of mechanisms with multiple actuators has created a new kind of problem in linkage kinematics. Most traditional mechanisms were designed on the basis of providing one or more output functions from a single input. When a single linkage served multiple functions, those functions were kinematically coordinated by the linkage. Examples are printing presses or production machinery, which perform numerous, mechanically synchronized, operations. Each operation can be viewed as a kinematic output function and the mechanical synchronization of the whole assemblage from a single drive motor is kinematic coordination of those functions from a single input.