EVEN THOUGH ASSEMBLY OF HEAVY WORK (10KG TO 10 TON) IS A DANGEROUS TASK, IT HAS NOT BEEN AUTOMATED. THIS PAPER DEALS WITH ASSEMBLY ROBOT WITH SEVEN DEGREES OF FREEDOM AND IT PROPOSES AN INTERATIVE ALGORITHM IN KINEMATICS. THE ROBOT IS DESIGNED AND CONSTRUCTED IN 2.5 METER HEIGHT AND IN 2.0 METER WIRE LENGTH WITH 20KG SUSPENDED WORK. THIS KIND OF SUSPENDING SYSTEM HAS DISADVANTAGES OF RESIDUAL VIBRATION IN POSITIONING. A REGULATOR IS DESIGNED FOR THE VIBRATION AND INDICATES ENOUGH GOOD CONTROLLABILITY. THIS ROBOT SYSTEM PROVIDES A FUNDAMENTAL TECHNOLOGY IN ASSEMBLY OF HEAVY PRODUCTS.