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The main objective of this research is to develop a method that allows obtaining an automated assessment of the performance of planners widely used in robotic environments. In addition to analyzing specific metrics such as planning time, path length, smoothness, and clearance, this paper introduces novel contributions, including a unique method for dynamic scene evaluation and a new comprehensive and global performance index, named Total Performance Index (TPIx), which encompasses all the aforementioned metrics. The system proposed is composed of a collaborative robot and an RGB-D sensor to monitor the environment using 3D data to perform safe trajectories during multiple tasks. In this quantitative evaluation, two single-query planners (RRT, KPIECE) and two multiple-query planners (SPARS, PRM) were analyzed. The results obtained demonstrate the feasibility and effectiveness of the proposed method to automatically evaluate the planners used by collaborative robots. 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