ROBOT SIMULATION DEVICE, ROBOT SIMULATION METHOD, ROBOT SIMULATION PROGRAM, COMPUTER-READABLE RECORDING MEDIUM AND RECORDING DEVICE

摘要

PROBLEM TO BE SOLVED: To bring simulation results closer to results acquired during actual operation.;SOLUTION: A robot simulation device comprises: a bulk data generating part to generate virtual bulk data, where a plurality of workpiece models are piled up in a virtual work space in which work is virtually carried out; a region estimating part to compare a virtual inclination angle of each point constituting each workpiece model within the bulk data generated by the bulk data generating part with an angle threshold determined by an angle threshold determination part, and identify a point having a virtual inclination angle larger than the angle threshold as an estimation region where measurement is estimated to be difficu a simulation data generating part to generate bulk data not including data in the estimation region identified by the region estimating part as simulation data; and a picking operation simulation part to execute simulation for verifying the bulk picking operation of the workpiece models within the work space by using the simulation data.;SELECTED DRAWING: Figure 25;COPYRIGHT: (C)2018,JPO&INPIT