This paper presents a real-time implementation of complete computational schemes for controlling a robot in joint and cartesian space.Recent results from the robotic team of the LAN concerning the model-based control techniques are used, that is to say the computed torque technique in the joint space, and the resolved- acceleration scheme in the cartesian space.The implementation is realized on a standard minicomputer Hewlett-Packard HP 1000-A900.For a six rotational joints robot, a sampling period of about 4.5ms is needed in the case of dynamic cartesian space control. This time includes input/output operations and the complete calculation of the torques to be applied to the six joints.This result shows that dynamical control of robots is feasible and easy to implement, using standard present minicomputer with high level language programming and efficient inverse dynamic and kinematic models.