We started this project with the study of a set of robot configurations and analyzing the type and amount of calculation involved in each of the robot controller modules (kinematics, inverse kinematics, dynamics, trajectory planning, feed-back control, and simulation). this phase was accomplished by working through a generic example for a 3-link robot to compute symbolically the kinematics, inverse kinematics, dynamics, and trajectory planning; these were linked to a generic motor model and its control algorithm. This study enabled us to specify the parameters of the robot for performing various tasks, it also helped us determine which parts (algorithms) should be hardwired to achieve specific mechanical performances, and also how to supply the control signals efficiently and at what rates.