A method for testing and/or assembling at least one component and/or at least one functional unit (14, 16, 18) with a real robot, such as a testing and/or assembly robot, on the basis of defined testing and/or assembly steps in a real space, wherein a digital model is created for the robot and each of at least one component and/or at least one functional unit (14, 16, 18) by means of a modelling and/or simulation device wherein testing and/or assembly steps associated with the component and/or the functional unit are taken into account in the digital model of at the least one component and/or the at least one functional unit (14, 16, 18), wherein the testing and/or assembly steps are simulated by a virtual robot, such as a testing and/or assembly robot, on a virtual component and/or a virtual functional unit in a virtual space in such a way that the testing sequence is optimised and the cycle time is estimated, wherein, after completion of the testing sequence, the simulation is transferred to the real robot by means of a software tool and is carried out automatically by the latter in the real space, wherein a mathematical-physical behaviour model is retrieved during the simulation of the testing and/or assembly steps, characterised in that in that the mathematical-physical behaviour model is taken into account in the digital model of the at least one component and/or of the at least one functional unit (14, 16, 18) for at least one testing and/or assembly step, by means of which mathematical-physical model a physical and dynamic behaviour of the at least one component and/or of the at least one functional unit (14, 16, 18) during the execution of the testing and/or assembly steps is described by means of at least one mathematical relationship and which maps physical action and/or functional mechanisms occurring during the execution of the testing and/or assembly step in real space in the form of operating and/or assembly forces, wherein the mathematical relationship is specified in the form of a curve or characteristic of at least one physical variable as a function of a further variable, wherein a path of the curve or characteristic is set by means of a curve editor and wherein the curve editor is displayed during the simulation of one of the testing and/or assembly steps, and in that the curves are iteratively adapted by means of the curve editor and the simulation is then restarted. wherein a digital model is created for the robot and each of at least one component and/or at least one functional unit (14, 16, 18) by means of a modelling and/or simulation device wherein testing and/or assembly steps associated with the component and/or the functional unit are taken into account in the digital model of at the least one component and/or the at least one functional unit (14, 16, 18), wherein the testing and/or assembly steps are simulated by a virtual robot, such as a testing and/or assembly robot, on a virtual component and/or a virtual functional unit in a virtual space in such a way that the testing sequence is optimised and the cycle time is estimated, wherein, after completion of the testing sequence, the simulation is transferred to the real robot by means of a software tool and is carried out automatically by the latter in the real space, wherein a mathematical-physical behaviour model is retrieved during the simulation of the testing and/or assembly steps, characterised in that in that the mathematical-physical behaviour model is taken into account in the digital model of the at least one component and/or of the at least one functional unit (14, 16, 18) for at least one testing and/or assembly step, by means of which mathematical-physical model a physical and dynamic behaviour of the at least one component and/or of the at least one functional unit (14, 16, 18) during the execution of the testing and/or assembly steps is described by means of at least one mathematical relationship and which maps physical action and/or functional mechanisms occurring during the execution of the testing and/or assembly step in real space in the form of operating and/or assembly forces, wherein the mathematical relationship is specified in the form of a curve or characteristic of at least one physical variable as a function of a further variable, wherein a path of the curve or characteristic is set by means of a curve editor and wherein the curve editor is displayed during the simulation of one of the testing and/or assembly steps, and in that the curves are iteratively adapted by means of the curve editor and the simulation is then restarted.