Byrne, Russell H.An implementation of a distributed dynamical simulation is presented. Issues concerning real time simulation are discussed. Three dimensional, animated, object oriented graphics software is presented with problems and solutions. Libipc(3), a library for fast, easy interprocess communications, is designed, along with a general discussion on client/server models. The equations of motion for an N body planar chain are derived in a Lagrangian setting. The solution of these equations using the Newmark technique is presented. Finally, a control system for reorienting the chain is described, and its relation to the NASREM architecture is discussed.en-USkinematicsroboticsspace structuresinteractive graphicsdynamicsnumerical methodsinterprocess communicationsdistributed computingIntelligent ServomechanismsThesis