Abstract
Traditionally, inserting methods in the automation have been a vertical method, that is, to insert the works into the holes vertically.However, when an industrial robot fails to grasp the work, the vertical insertion will not be successful and sometimes stop all the automation line, Therefore, the new inserting method which prevents inserting failure was studied in this paper.The new inserting method is developed in consideration of human motion, The method has two important factors;the angle of the industrial robot hand and the insertion depth of a work.As a result of the industrial robot motion, the new inserting method has greater capacity of errors than the vertical insertion,
