Robot simulation device for a robotic system involving human intervention

摘要

Robot simulation device (10) for a robot system comprising human intervention, wherein a robot (18) and a human (20), which are located in a virtual space (16), perform a joint activity and thereby share a work space and one or more articles (22), the robot simulation device comprising: an activity distributing part (24) which indicates a plurality of activities included in the joint activity based on a weight of the article to be processed in each activity, a transport distance of the article and a time required in each activity the robot and the human, and when the weight of the article exceeds a predetermined allowable value, or when a minimum transportation time by the robot calculated based on the transportation distance is less than a required time, the activity distributing part displays the corresponding activity the robot r distributed; a program generating part (26) that generates a movement program for the robot and the human based on an activity distribution result obtained by the activity distributing part, and a cycle duration calculating part (28) which simulates the movement program and calculates a cycle duration of the movement program.