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Design tools are needed to study advanced robot controller architectures. These tools must provide capabilities beyond simulation of linear differential equations used for designing PID controls. Other design parameters, such as interprocess communication delays, computational delays, interprocessor bus structures and operating system services, need to be simulated. In this paper, the use of two simulation tools for modeling the next generation of robot controller architectures is discussed. First, the Hierarchical Control System Emulator (HCSE) is described as a tool for evaluating the performance of robot controller architectures. Second, the commercially available software package, SIMNON, that simulates non-linear differential and difference equations is discussed in its application to modeling robot dynamics.