Abstract A transputer-based dataflow multiprocessor system for robot arm control is presented. The proposed architecture computes the applied torques of a multilink system using the Newton-Euler state space formulation. Simulation studies have verified the effectiveness of the proposed architecture by producing execution times that are fast enough for realtime control application. The architecture, which explores the maximum parallelism, consists of 1834 processing elements and, if implemented using 20 MHz transputers and programmed in OCCAM, calculates the torque for a six-link system in 1.58 ms. Reasonable engineering solutions consisting of fewer processing elements are also discussed.