| 摘要 |
On the basis of model data for a virtual object corresponding to an object to be handled by a virtual machine, which corresponds to machine in virtual space, in accordance with control program, command values for moving the virtual machine are calculated by a control program (step 313, step 314); the motion of the virtual machine according to the calculated command values is calculated (step 315); the motion of the virtual object, which moves according to the calculated motion of the virtual machine, is calculated(step 315); an image in virtual space, which is obtained when the calculated motion of the virtual machine or motion of the virtual object is virtually captured, is generated (step S115); and command values are further calculated on the basis of the generated image in virtual space (step S313, step S314). An integrated simulation of a mechanical system that includes visual sensors in real space, which corresponds to a virtual imaging area, can thus be achieved. Furthermore, tests can be achieved when controlling a machine using visual sensors. |
