Apparatus simulating operations between a robot and workpiece models

Abstract

A robot simulation apparatus () capable of creating and executing a robot program includes a virtual space creating unit () for creating a virtual space (), a workpiece model layout unit () for automatically arranging at least one workpiece model () in an appropriate posture at an appropriate position in a workpiece accommodation unit model () defined in the virtual space, a virtual camera unit () for acquiring a virtual image () of workpiece models existing in the range of a designated visual field as viewed from a designated place in the virtual space, a correcting unit () for correcting the teaching points in the robot program based on the virtual image, and a simulation unit () for simulating the operation of the robot handling the workpieces, and as a result, interference between the robot and the workpieces can be predicted while at the same time accurately determining the required workpiece handling time.