A robot simulation device is provided with a generating section, a compositing section, a display control section, a calculating section, a determining section, and an instructing section. The generating section generates a path that shows the area through which a robot conveying a substrate is to pass. The compositing section composites a background image, which comprises obstacles disposed around the robot, with the path. The display control section displays the composite image composited by the compositing section on a display unit. The calculating section calculates the distances between the path and the obstacles. The determining section determines that the path is near an obstacle when the distance is smaller than a specified threshold. When the determining section determines that the path is near an obstacle, the instructing section instructs the compositing section to composite a notification image, which comprises the distance calculated by the calculating section, with the composite image.
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