Patent ID: 11938633
Assignee: FANUC CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 14:
15. A system for performing a robotic assembly operation of a first part with a second part, said system comprising:
a computer with a processor and memory, said computer being configured for autonomously tuning controller parameters for the robotic assembly operation including using a numerical optimization algorithm to optimize values of the controller parameters, wherein a plurality of random samples are selected from a distribution of the controller parameters, and a set of simulations of the assembly operation is run for each of the samples in the plurality, where each set of simulations includes a plurality of simulations each using a different fixed pose deviation of the second part, and where the distribution of the controller parameters is redefined based on a subset of the sets of simulations having best assembly performance until a convergence criteria is met; and
a robot controller controlling a robot, said controller being configured with a compliance controller to perform the robotic assembly operation, where the compliance controller uses the optimized values of the controller parameters from the computer.