Abstract: The theory of mobile robot behavioral dynamics is extended to three-dimensional space of manipulator, and applied to peg-in-hole assembly task. The assembly process is divided into the trend toward assembly target and assembly phase. In the phase of trend toward assembly target, the dynamic model of target acquisition and obstacle avoidance are established respectively, and these two kinds of behavior constitute a overall coupling and competitive robot dynamics model. In assembly phase, the posture adjustment dynamic model is established and the lateral error formula is deduced. Throughout the assembly process, the use of macro/micro platform and visual/force servo, posture control is carried out on the shaft, make it meet the assembly condition. Simulation and experimental results show that, under the control of the dynamics equation, the end-effector while avoiding obstacles, safe and effective to reach the target assembly, successfully completed the peg-in-hole assembly, demonstrating the effectiveness of the proposed method.

Key words: attractor, behavioral dynamics, manipulating robot, peg-in-hole assembly, posture adjustment, repellor