ROBOT SIMULATION DEVICE

摘要

A robot simulation device includes, a model generation unit which generates a three-dimensional wire-shaped member model from a plurality of mass points and a plurality of spring elements, a focus point setting unit which sets a plurality of focus points on the wire-shaped member model, a simulation unit which performs a simulation of the behavior of the wire-shaped member associated with the operation of the robot using the wire-shaped member model, and a display unit which displays focus point images, together with wire-shaped member images, using position data of the plurality of mass points and position data of the plurality of focus points which are obtained via the simulation.

主权项

1. A robot simulation device configured to simulate a behavior of a wire-shaped member arranged on a robot, comprising:
a model generation unit which generates a three-dimensional model of the wire-shaped member from a plurality of mass points set along a longitudinal direction of the wire-shaped member so as to define an outer circumferential surface of the wire-shaped member and a plurality of spring elements connecting the plurality of mass points together; a focus point setting unit which sets, on the three-dimensional model of the wire-shaped member, a plurality of focus points to grasp a torsioned state of the wire-shaped member; a simulation unit which performs a simulation of the behavior of the wire-shaped member associated with operation of the robot using the three-dimensional model of the wire-shaped member; and a display unit which displays focus point images representing the focus points, together with wire-shaped member images representing a profile of the wire-shaped member, using time-series position data of the plurality of mass points and time-series position data of the plurality of focus points obtained via the simulation performed by the simulation unit.