A method for initialising, for the first time, a facility comprising at least one robot and at least one measurement system for an assembly task which is determined by theoretically defined steps, wherein: i. in a first step, a program for executing the assembly task is created on a computer which is not connected to the facility ; ii. in a second step, the program comprising the theoretically defined steps for the assembly task is inputted into a memory unit of a computer which is connected to the robot and the measurement system ; iii. in a third step, mutually adjusted individual processing steps for executing the assembly task are derived from the program by a computational unit of the computer which is connected to the robot and the measurement system , for the robot ; iv. in a fourth step, the processing steps are transmitted from the computer to the robot ; v. in a fifth step, the robot performs one processing step of the assembly task at a time, under the control of the program, and the measurement system monitors each of the processing steps performed by the robot and transmits measurement data for each processing step of the assembly task to the computer ; vi. in a sixth step, the captured measurement data for each processing step of the assembly task are stored in the computer and compared with the data, stored in the memory unit , of the theoretically defined steps of the assembly task; vii. in a seventh step, the program for the assembly task is optimised by the computational unit on the basis of the measurement data captured by the measurement system , and stored as an optimised program; and viii. in an eighth step, optimised processing steps are derived from the optimised program by the computational unit and transmitted to the robot for the next identical assembly task. i. in a first step, a program for executing the assembly task is created on a computer which is not connected to the facility ; ii. in a second step, the program comprising the theoretically defined steps for the assembly task is inputted into a memory unit of a computer which is connected to the robot and the measurement system ; iii. in a third step, mutually adjusted individual processing steps for executing the assembly task are derived from the program by a computational unit of the computer which is connected to the robot and the measurement system , for the robot ; iv. in a fourth step, the processing steps are transmitted from the computer to the robot ; v. in a fifth step, the robot performs one processing step of the assembly task at a time, under the control of the program, and the measurement system monitors each of the processing steps performed by the robot and transmits measurement data for each processing step of the assembly task to the computer ; vi. in a sixth step, the captured measurement data for each processing step of the assembly task are stored in the computer and compared with the data, stored in the memory unit , of the theoretically defined steps of the assembly task; vii. in a seventh step, the program for the assembly task is optimised by the computational unit on the basis of the measurement data captured by the measurement system , and stored as an optimised program; and viii. in an eighth step, optimised processing steps are derived from the optimised program by the computational unit and transmitted to the robot for the next identical assembly task. <EOS>