Adaptation of a gripping simulation by way of parameter identification in the real world

Method (30) for automatic optimization of parameters for a robot-assisted gripping operation, comprising

• determining of gripping real data (S10), wherein the gripping real data (S10) describe at least one gripping success of a grip position on an object gripped by way of a gripping robot;
• and/or
• determining of holding real data (S20), wherein the holding real data (S20) describe at least one parameter which is linked to a gripping operation, in particular grip, in particular a force on the object gripped by way of a gripping robot;
• simulating (S30), in particular replicating, at least one gripping operation, in particular grip, in a simulation environment based on the gripping operation, in particular grip, which forms the basis of the determined gripping real data (S10) and/or the determined holding real data (S20);
• data-based optimizing (S32) of parameters, in particular optimizing of the parameters based on the determined gripping real data (S10) and/or based on the determined holding real data (S20), in order to determine optimized parameters.