| CPC B25J 9/1661 (2013.01) [B23P 21/00 (2013.01)] | 25 Claims |
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1. A method for autonomously tuning controller parameters for a robotic assembly operation in which a robot manipulates a first part into an assembled position with a second part, said method comprising:
initializing a distribution of the controller parameters to be tuned;
providing a plurality of random samples of the controller parameters from the distribution;
running a set of simulations of the assembly operation for each of the samples in the plurality, on a computer having a processor and memory, the simulations including a compliance controller model of a robot performing the assembly operation, where each set of simulations includes a plurality of simulations each using a different fixed pose deviation of the second part;
computing a cost function value for each of the simulations, and an average cost function value for each of the sets of simulations; and
running a numerical optimization to optimize values of the controller parameters, including;
redefining the distribution of controller parameters based on a quantity of the sets of simulations having the lowest average cost function values;
returning to providing the first plurality of random samples of the controller parameters from the distribution as redefined when the numerical optimization has not converged, and
using mean values of the distribution of controller parameters as the final tuned parameters when the numerical optimization has converged.
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