| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot simulation device capable of creating workpieces in a bulk state taking into account the gravity force acting on the workpieces and the interference to the workpieces.SOLUTION: A robot simulation device includes a model arrangement part for arranging a three-dimensional model of a container in a virtual space, and arranging a three-dimensional model of each workpiece having an arbitrary attitude in an initial position above the container model, and a falling operation simulation part for simulating falling operation in which each of the workpieces falls from the initial position to the inside of the container upon receiving an effect of the gravity force. The robot simulation device is configured so as to create a bulk state of the workpiece model based on the position and attitude of each workpiece model acquired as a result of the fall operation simulation. |
