The realization of high quality robot control needs the improvement of computing speed of controller. In this paper, parallel processing method is considered for this purpose. A S/W algorithm for task scheduling is developed first, and then, an appropriate H/W structure is proposed. This scheme is applied to calculate inverse kinematics of PUMA robot. The simulation results show that the computing time when using three 8086/87's is reduced to 4.23 msec compared to 10 msec in case using one 8086/87.