Abstract: To establish a system model for simulating a space robot with a flexible manipulator to capture the space debris, this paper proposes a typical flowchart for the whole process, including the phases of the orbit transfer, the station keeping, the path planning, and the momentum stability control. According to the flowchart, the path planning, the momentum buffering control, the attitude control, the dynamics and the trajectory simulation subsystem are implemented with the SimuLinK software. Those subsystems exchange data based on the TCP/IP, for the construction of the attitude and orbit control simulation system of the space debris removal with a flexible arm.