Either Alt+Right click on the panel (if Metacity is your window manager) or
Alt+Windows key+Right click on the panel (if Compiz is your window manager).
That will give you a contextual menu that includes an entry to add "elements"
to the panel. Click on: + Add to panel..
Choose (Click on) 'Custum Application Launcher'. Next on '+ Add'.
This wil give you a new window. Copy/paste in the field after Name:
AppOverview
and in the field after Command: nautilus "/usr/share/applications"
Than close that window. A new icon appears on your panel.
Drag and drop that icon to your desktop. Thats all.
But, as said, why not using the "Start" menu, (Trisquel Logo) ??