A simulation apparatus and method that performs an operational simulation of a robot system and a recording medium that records a computer program

摘要

A simulation apparatus (10) configured to carry out simulation of an operation of a robot system, the simulation apparatus comprising: a model placement section (26) configured to arrange a plurality of component models (102, 104, 160) in a virtual space (100), the component models are three-dimensional models of a plurality of components of the robot system; wherein a virtual operating parameter, which is necessary for the simulative operation of the component model in the virtual space, is assigned to each component model, the virtual operating parameter including a control coordinate system (132, 134, 136, 172), which is used as a reference for the operation of the component model in the virtual space, each component model being arranged in the virtual space together with its control coordinate system, a first input receiving section (20) configured to receive an input operation for selecting a first component nenten model (102, 106) from the component models, a second input receiving section configured to receive an input operation for selecting a second control coordinate system (132, 136) of a second component model (102, 104) from the component models and an input operation for selecting a Origin of the selected second control coordinate system, an axis of the selected second control coordinate system or a plane defined by the selected second control coordinate system to receive a reference setting section (28) configured to the selected origin, the selected axis or the selected plane of the second control coordinate system as To set a reference point, reference axis or reference plane in the virtual space; a section for generating a symmetrical model (30), set up for generating a symmetrical component model (102M, 160M) which is a three-dimensional model l which is symmetrical to the selected first component model arranged in the virtual space with respect to the reference point, the reference axis or the reference plane; anda simulation section (32) configured to execute a simulation for simulating operation of the component model and the symmetrical component model in the virtual space.