Abstract: The methods of position control for an assistive standing-up robot is studied. Position control tests are carried out under different frequencies using position/velocity feedback control. The position accuracy of sliding joint of the assistive standing-up robot is higher, but that of rotary joint is lower. The velocity feed-forward control is added based on feedback control and new tests are carried out. The results show that the position accuracy of two joints of the assistive standing-up robot is significantly improved by adding velocity feed-forward control, especially for rotary joint. It proves that the position accuracy of assistive standing-up robot is effectively improved by adding the velocity feed-forward control based on feedback control.