| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot simulation device that enables a shape of a robot hand, increasing a gripping success rate, to be selected by calculation in a virtual space.SOLUTION: A bulk operation part 21 reproduces a workpiece-stacked state in a virtual space. A depth measurement simulation part 22 simulates measurement of depth of each point of a workpiece by a depth measuring sensor to generate depth data. A hand selection part 23 calculates gripping possibility of the workpiece with respect to shapes of a plurality of robot hands on the basis of a shape model of the robot hand and the depth data, and selects the shape of the robot hand on the basis of the gripping possibility. |
