Controlling and simulating a robot is a process that involves a large number of mathematical equations. To be able to deal with the required amount of computation, it is better to divide them into modules, in which each module accomplishes a certain task. The most important modules, as described in [7], are kinematics, inverse kinematics, dynamics, trajectory generation, and linear feedback control. In the following sections, we will briefly describe each of these modules, and the parameters involved in each.