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In order to realize the dual arm mobile robot control and simulation, a distributed robotic system is presented. The system provides the robot's model building, path planning, robot task planning, simulation and actual robot control functions in an indoor environment. This paper is focused on two major issues: the distributed system's modularity and the key technologies based on the robot's key-values in robot construction and multi-robot simulation. Experiments were conducted in order to compare the performances of the proposed system with the performances of a former centralized system. The results show that the distributed system uses less system resources, has better real time performances and satisfies the requests of dual arm mobile robot.