| 摘要 |
PROBLEM TO BE SOLVED: To achieve integrated simulation of a mechanical system that includes visual sensors in a real space which corresponds to a virtual imaging part, and enable tests to be conducted when a machine is controlled by using the visual sensors.SOLUTION: A simulation method comprises the steps of: calculating instruction values handled by a virtual machine corresponding to a machine in a virtual space according to a control program, and for moving the virtual machine on the basis of model data for a virtual object corresponding to an object (step S313 and step S314); calculating motion of the virtual machine according to the calculated instruction values (step S315); calculating the motion of the virtual object, which is moved according to the calculated motion of the virtual machine (step S315); generating an image in the virtual space, which is obtained when the calculated motion of the virtual machine or the calculated motion of the virtual object is virtually captured (step S115); and calculating instruction values further on the basis of the generated image in the virtual space (step S313 and step S314).SELECTED DRAWING: Figure 5 |
