Dynamics Analysis of a Dual-Arm Space Robot Using Euler-Poincare Equation

Topology, kinematics and dynamics of a dual-arm space robot are studied, and its dynamic model is established by using the Euler-Poincare method and the quaternion theory was presented in this paper. The example shows that, given the values of motion parameters, the every part transient motion of the robot can be solved by using the established model, and vice versa. Simulations results show that the dynamics model established with the Euler-Poincare method and the quaternion theory is true to reality.