Recent trends in the Lagrange equation's conversion and form from inertial system to non-inertial system, the application of energy theorem, energy conservation law, etc. are introduced.

介绍了在非惯性系中建立动力学方程的方法，惯性系中拉格朗日方程在非惯性系中的转换形式，以及非惯性系中的能量定理和能量守恒定律的应用等研究成果。

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According to the momentum conservation law, the dynamic equations of dual-arm space robot system were established through Lagrange equation of the second kind.

依据系统动量守恒关系和拉格朗日第二类方程，推导了漂浮基双臂空间机器人系统的动力学方程。

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