The curvature of aircraft parts is always large,and their shape is irregular.When robot is used to achieve aircraft drilling, it’ s hard to finish under a certain endeffector posture. A posture control algorithm for robot endeffector was presented.By using this control algorithm,the robot drilling posture could be optimized, collisions during processing could be prevented. A virtual robot drilling simulation platform was established based on DELMIA.The feasibility of the control algorithm is verified by the simulation platform.