Summary The performance of assembly robot is usually defined by some selected values such as repeatable positioning accuracy and maximum arm speed. However, the definitions of these terms are not distinct and differ according to the supplier. The values are given only in a limited condition and do not represent the general performance of the robot. The user cannot judge which robot is suitable for his use and whether the robot can perform the task in the desired time. In this report, performance test methods for the assembly robot are discussed and standard performance test tasks in PTP and CP motions are proposed. The methods are applicable for the three types of planar positioning assembly robot: Cartesian, cylindrical and Scara-type. Some of them may also be applied for spatial robot such as Puma. How to perform each task is not specified in the proposal, and the estimation of performance is judged by the results of positioning accuracy and performance time.