Abstract: This paper presents three structu res of robot's distributed computer control system based on multi-processor structure and multi-joint、 robot control.It constructs the mathematical models of the efficien-cy for three architectures on the basis of distributed system and Markov processes,gaves the efficiency curves and analyses those performance.The paper draws a conclusion:it is the most efficient structure to apply the dual-port RAM to common memory. It provides scientific bssis for designing a robot's distrlbuted computer control system.