In the dynamic or human-robot cooperation assembly scene,it is difficult for the exist-ing methods for path planning of manipulator based on rules rather than the enlightenment of bio-logical behavior to describe the movement of obj ects in the space with the natural way,with be-havior dynamics method making up for the disadvantages.In this paper,the behavior dynamics method is used in working space of the end-effector of manipulator for the motion planning. Firstly,we define the basic behavior for position movement of robot end-effector,with the posi-tion movement of the overall behavior obtained by a competitive dynamics model;secondly,we use the behavior dynamics method for designing orientation movement behavior.The results of the simulation experiment show that the use of the behavior dynamics method can realize the manipulator’s motion planning in the static and dynamical scene.%在动态或人机合作装配场合中，基于规则而不是生物行为启示的现有操作机器人的运动规划方法，难于以自然的方式对工作空间内物体的运动进行描述，而行为动力学方法则能弥补这一缺点。本文在工作空间内，建立不考虑关节约束时的操作机器人末端执行器的行为动力学运动规划模型。首先，定义了操作机器人末端执行器位置运动的基本行为，通过竞争动力学协调得到位置运动的整体行为模型。然后，利用行为动力学方法设计了末端执行器姿态运动的行为。仿真实验结果表明：利用行为动力学方法可以实现操作机器人的静态及动态场景下的自主运动规划。
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