This paper shows that a hierarchical architecture, distributing several control actions in growing levels of complexity and using resources of reconfigurable computing, enables one to take into account the ease of future modifications, updates and improvements in robotic applications. An experimental example of a Stewart-Gough platform control (a platform applied as the solution to countless practical problems) is presented using reconfigurable computing. The software and hardware developed are structured in independent blocks. This open architecture implementation allows easy expansion of the system and better adaptation of the platform to its related tasks. © 2007 SAGE Publications Los Angeles.1309/10/1514311446Ollero, A., Boverie, S., Goodal, R., Mechatronics, robotics and components for automation and control (2005) Annual Reviews in Control IFAC Journal, 26, pp. 203-228Lee, T.Y., Shim, J.K., Improved analytic elimination algorithm for the forward kinematics of the general Stewart-Gough platform," Mechanism and (2003) Machine Theory, 38, pp. 563-577Rosrio, J.M., Oliveira, E., Dumur, D., Conception of Stewart-Gough platform with reconfigurable control Proceedings of the International Symposium on Power Electronics, Electrical Drives, Automation and Motion - SPEEDAMSpong, M.W., Vidyasagar, M., (1989) Robot Dynamics and Control, , Wiley, New YorkPimenta, K.B., Souza, J.P., Rosrio, J.M., Dumur, D., Control of robotic joints with generalized predictive control (GPC) Proceedings of the RADD'2001 ConferenceKarger, A., Architecture singular planar parallel manipulators (2003) Mechanism and Machine Theory, 38, pp. 1149-1164Bonev, I.A., A closed-form solution to the direct kinematics of nearly general parallel manipulators with optimally located three linear extra sensors (2003) IEEE Transactions on Robotics and Automation, 17 (2), pp. 148-156David, S., Rosrio, J.M., Modelling, simulation and control of flexible robots CONTROLO'98Clarke, D.W., Mohtadi, C., Tuffs, P.S., Generalized predictive control, Part I: The basic algorithmPart II: Extensions and interpretation (1987) Automatica, 23 (2), pp. 137-160Boucher, P., Dumur, D., Predictive motion control (1995) Journal of Systems Engineering - Special Issue on Motion Control Systems, 5, pp. 148-162Dumur, D., Boucher, P., New predictive techniques - Control axis solutions Proceedings of the 3rd IEEE Conference on Control ApplicationsCassemiro, E.R., Rosrio, J.M., Dumur, D., Robot axis dynamics control using a virtual robotics environment Proceedings of the 10th IEEE International Conference on Emerging Technologies and Factory Automation ETFALima, C.R.E., Silva, N.C., Rosrio, J.M., A proposal of flexible architecture for mobile robotics 7th Forum International Conference and Mechatronics Education WorkshopRosrio, J.M., Lima, C.R.E., Ferasolli, H., Perogaro, R., Reconfigurable architecture proposal to application on mobile embedded systems prototypes 7th IFAC Symposium of Robot Control - SYROCO'03