SYMOFROS: a virtual environment for modeling, simulation and real-time implementation of multibody system dynamics and control. This paper briefly describes Symofros, the modeling, simulation and control environment developed and used at the Canadian Space Agency for multibody and robotic systems. This environment is based on a symbolic modeling and code generation engine supported by Maple, and the Matlab/Simulink environment. Symofros serves two main purposes: control and real-time implementation, and analysis and design. Applications of the Symofros environment in space robotics will also be demonstrated in this paper