This work analyses orientation and assembly methods for not cylindrical elements. Models of two assembly elements was created using Auto Cad 2004 software. Taking advantages and disadvantages of assembly methods into consideration, it was chosen to assemble components with industrial robot, because it is high speed, programmable device. Trajectory of robot movement was calculated using vector algebra and homogenous coordinates methods to ensure control reliability. The program was developed for robot control, using Delphi 7. The program can bee applied not only for these two components.