It has to be said that many authors and script writers have jumped through all sorts of hoops to get around censors. From Firefly creator Joss Whedon using Mandarin instead of English, to Father Ted's use of 'feck' - it's all been tried.
So if you've ever wondered exactly what "Zarking fardwarks" means, if any other TV show or film has ever used the word "Smeg" quite so much as Red Dwarf - that's the reason. People like to swear, and in fictional worlds they use fictional words.
And here, joyously, is a collected page of them. Fictional swear words and approximate meanings, including real swear words.