| 摘要 |
PROBLEM TO BE SOLVED: To carry out a proper off-line simulation of workpiece handling operation of a robot including bin picking action for previously checking mutual interference between the robot and the periphery. SOLUTION: A robot simulation device 10 is provided with an operation environment model setting part 24, by which a sensor model 16M, a robot model 18, and a plurality of workpiece models 20M loaded at random are arranged in a virtual operation environment 22, and an action simulation part 26 making the sensor model and the robot model simulatingly perform workpiece detection action and bin picking action. The action simulation part is provided with a workpiece model image generation part 28 making the sensor model photograph the workpiece model to generate its virtual image MI, a workpiece model position detection part 30 specifying an extraction target workpiece model from the virtual image and detecting its virtual position MP, and a robot model action control part 32 making the robot model pick the extraction target workpiece model based on the virtual position. COPYRIGHT: (C)2007,JPO&INPIT
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