A method (100,1802) for optimizing the parameters of a robot used in an assembly process to fit a fitting part in a receiving part characterized in that it comprises the following steps: categorizing said assembly process for said robot to fit said fitting part into said receiving part as one of a plurality of predetermined types of assembly processes; selecting said categorized assembly process from said predetermined types of assembly processes comprising cylindrical, radial and multi-stage insertion assembly processes; specifying from said categorized assembly process a search pattern for fitting said fitting part into said receiving part for said categorized assembly process and parameters for said categorized assembly process; obtaining by using a predetermined Design of Experiment technique a set of optimal parameters for said categorized assembly process wherein the optimal parameters are selected from a set of tune parameters that are based on the categorized assembly process, wherein the predetermined Design of Experiment technique comprises: - defining controllable variables of said categorized assembly process and ignoring uncontrollable variables of said categorized assembly process; - varying input tune parameters in a designed manner and measuring output characteristics from said varying; - determining the most influential input tune parameters by using a fractional factorial test; - optimizing only the most influential input tune parameters by using a full factorial test; verifying that said optimized input tune parameters meet a predetermined criteria to become the set of optimal parameters for using said robot to perform said categorized assembly process; and causing said robot to perform said specified search pattern using said set of optimal parameters for said categorized assembly process to create an assembly that is a combination of said fitting and receiving parts. categorizing said assembly process for said robot to fit said fitting part into said receiving part as one of a plurality of predetermined types of assembly processes; selecting said categorized assembly process from said predetermined types of assembly processes comprising cylindrical, radial and multi-stage insertion assembly processes; specifying from said categorized assembly process a search pattern for fitting said fitting part into said receiving part for said categorized assembly process and parameters for said categorized assembly process; obtaining by using a predetermined Design of Experiment technique a set of optimal parameters for said categorized assembly process wherein the optimal parameters are selected from a set of tune parameters that are based on the categorized assembly process, wherein the predetermined Design of Experiment technique comprises: - defining controllable variables of said categorized assembly process and ignoring uncontrollable variables of said categorized assembly process; - varying input tune parameters in a designed manner and measuring output characteristics from said varying; - determining the most influential input tune parameters by using a fractional factorial test; - optimizing only the most influential input tune parameters by using a full factorial test; - defining controllable variables of said categorized assembly process and ignoring uncontrollable variables of said categorized assembly process; - varying input tune parameters in a designed manner and measuring output characteristics from said varying; - determining the most influential input tune parameters by using a fractional factorial test; - optimizing only the most influential input tune parameters by using a full factorial test; verifying that said optimized input tune parameters meet a predetermined criteria to become the set of optimal parameters for using said robot to perform said categorized assembly process; and causing said robot to perform said specified search pattern using said set of optimal parameters for said categorized assembly process to create an assembly that is a combination of said fitting and receiving parts.