为了对闭环双臂空间机器人本体位姿进行实时定位跟踪，推导了基于旋量的递推牛顿－欧拉运动学方程，结合自由漂浮空间机器人的线动量和角动量守恒理论，建立了基于空间算子代数理论的自由漂浮双臂空间机器人闭环系统的动力学方程．使用序贯滤波和光滑化最优估计理论方法对广义质量矩阵进行了分解与求逆，实现了O( n) 次高效率计算．在Mathematica 6．0 中编制了程序对2 个平面3 自由度机械臂闭环系统进行仿真验证．仿真结果与ADAMS 结果进行的对比表明，基于空间算子代数的方法的仿真结果正确，计算效率高，可应用于空间复杂多体系统实时动力学仿真以及控制系统的建模分析．

In order to implement real-time positioning and tracking of the pose of the closed-loop dual-arm space robot body,the recursive Newton-Euler kinematic equations on screw form are derived,and,according to the conservation laws of linear and angular momentum of the free-floating space robots,the dynamic equations of the closedloop system of the free-floating dual-arm space robots are set up based on the theory of spatial operator algebra. Then,the decomposition and inversion of the generalized mass matrix are achieved by means of the sequential filtering and smoothing methods of optimal estimation theory,with the high-efficiency computation for O( n) times. Finally,the closed-loop system with manipulators of 2 planes and 3 degree of freedom is simulated by using Mathematica 6.0,and the results are compared with those of the ADAMS. It is found that the proposed method based on spatial operator algebra is correct and efficient and that it can be applied to the real-time dynamic simulation of spatial
complex multi-body systems as well as the modeling analysis of control systems.