On the computer control of movement

The theoretical background for an ongoing experiment in motion control is described. The work has as its goal the discovery of efficient ways to distribute the computation and organize the communication needed to manage systems involving many degrees of freedom and unpredictable environments. Formalizing motion control to the extent necessary to be able to investigate correctness of motion-control programs is an important subgoal. A conceptual framework is presented together with some remarks of an existing implementation which uses these ideas