Based on the control theory of feedback linearization, the zero dynamics equation for a planar 3r rigid redundant robot was derived.

基于反馈线性化控制理论，推导出了平面3r刚性冗余度机器人的零动态方程。

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In the second chapter, the dynamics of free-floating space robot system with dual-arm is established by use of the Lagrange's equation.

在本文的第二章，我们利用第二类拉格朗日方程推导了自由漂浮平面双臂空间机器人系统的动力学方程。

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Then use screw theory build up dynamics equation of manipulator which belong to hydraulic turbine repair robot with six degree of freedom, and carry on theory analysis to the robot.

然后利用旋量理论推导了水轮机修复机器人六自由度手臂的动力学方程，并对此专用机器人动力学进行分析。

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