Robot Simulator

Abstract

A robot simulation device is used to simulate collaborative work performed by a collaborative robot and a human, the simulation device comprising: a head-mounted display device worn by an operator who simulates the collaborative work, a detection unit that detects the position of the operator in the actual space, a three-dimensional model display unit that displays an image of a robot system model including a collaborative robot model configured in a three-dimensional virtual space on the head-mounted display device, and a simulation execution unit that simulates the action of the collaborative robot model in the three-dimensional virtual space based on the action program of the collaborative robot that performs the collaborative work and the detected position of the operator.

Description

Technical Field

[0001] The present invention relates to a simulation device for executing a simulation of a collaborative operation performed by a collaborative robot and a human. Background Art

[0002] A system is known that performs simulation by arranging a cooperative robot model, a workpiece model, a human model, and a peripheral device model that three-dimensionally represent a cooperative robot, a workpiece, a human, and peripheral devices on a screen (for example, see Japanese Patent Application Laid-Open No. 2017-024113).

[0003] The simulation device of Japanese Patent Publication No. 2017-024113 arranges models of robots, workpieces, peripheral equipment, and humans in a virtual space and performs simulation. In the simulation of collaborative work performed by a collaborative robot and a human, it is expected that the possibility of the collaborative robot contacting or getting too close to the human can be reliably discovered through simulation. Summary of the invention

[0004] One embodiment of the present disclosure is a simulation device for simulating collaborative work performed by a collaborative robot and a human, the simulation device comprising: a head-mounted display device, which is worn by an operator who simulates performing the collaborative work; a detection unit, which detects the position of the operator in the actual space; a three-dimensional model display unit, which displays an image of a robot system model including a collaborative robot model configured in a three-dimensional virtual space on the head-mounted display device; and a simulation execution unit, which simulates the action of the collaborative robot model in the three-dimensional virtual space based on the action program of the collaborative robot performing the collaborative work and the position of the operator detected by the detection unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] The objects, features and advantages of the present invention will become more apparent from the following description of the embodiments in conjunction with the accompanying drawings.

[0006] Figure 1 is a structural diagram showing the overall structure of a robot simulation system according to one embodiment,

[0007] Figure 2 is the functional block diagram of the robot simulation system.

[0008] Figure 3 is a flowchart of the simulation operation of this embodiment.

[0009] Figure 4 is a diagram showing the display state of the robot system model in the virtual space when the simulation operation starts.

[0010] Figure 5is a diagram showing an example of displaying an image showing the next movement direction and speed of a collaborative robot model as movement path information.

[0011] Figure 6 is a diagram showing an example of displaying a motion trajectory representing the next motion of a collaborative robot model as motion path information.

[0012] Figure 7 1 is a diagram showing an example of displaying an image that graphically represents the motion program (teaching points) of a collaborative robot model as motion path information.

[0013] Figure 8 is a diagram showing an example of displaying a preview image showing the next action of the collaborative robot model as action path information.

[0014] Fig. 9 This is a diagram showing a warning message displayed when the operator is too close to the robot model during simulation.

[0015] Fig.10 This is a configuration diagram showing the structure of a robot simulation system when a wearable detection device is used as a detection device for detecting the position and movement of an operator. DETAILED DESCRIPTION

[0016] Hereinafter, the embodiments of the present invention will be described with reference to the accompanying drawings. In all the accompanying drawings, the same reference numerals are used to mark the corresponding components. In order to facilitate understanding, the scales of these drawings are appropriately changed. In addition, the form shown in the accompanying drawings is an example for implementing the present invention, and the present invention is not limited to the illustrated form.

[0017] Figure 1 1 is a block diagram showing the overall structure of a robot simulation system 100 according to one embodiment. The robot simulation system 100 is a system for simulating collaborative work between a collaborative robot and a human. Figure 1 As shown, the robot simulation system 100 includes a head mounted display 80 as a head mounted display device worn on the head of an operator 90, a simulation device 50 that performs simulation actions, and a detection device 70 that detects the position and actions of the operator 90. The head mounted display 80 and the detection device 70 are connected to the simulation device 50 by wireless connection or wired connection.

[0018] The simulation device 50 has three-dimensional model data of a robot system including a cooperative robot, a workpiece, and peripheral devices, and has a display unit 83 for generating an image in which these robot system models are arranged in a three-dimensional virtual space and displaying the image on a head mounted display 80 (see FIG. Figure 2 ) function. Figure 1The dashed frame line of illustrates an example of displaying the collaborative robot model 20M, the workpiece model 10M, and the peripheral device model 11M as simulated three-dimensional objects in the virtual space (display unit 83 of the head mounted display 80). In addition, the simulation device 50 can be composed of a common computer having a CPU, ROM, RAM, storage device, wired or wireless network interface, external device interface, operation unit, display unit, etc. The various functions of the simulation device 50 described below are realized by the CPU of the simulation device 50 executing various programs such as simulation programs. The detection device 70 detects the position and movement of the operator 70 in the actual space. Through this structure, the simulation device 50 can obtain the relative position relationship between the collaborative robot model 20M and the operator 90 in the virtual space according to the position and movement of the operator 90 in the actual space, and generate a display image of the robot system model according to the relative position relationship. Therefore, the operator 90 moves in the actual space, thereby being able to approach the robot system model or move away from the robot system model in the virtual space displayed on the head mounted display 80.

[0019] Figure 2 is a functional block diagram of the robot simulation system 100. Figure 2 As shown, the simulation device 50 includes a position calculation unit 501 , a three-dimensional model display unit 502 , a simulation execution unit 503 , a motion path information display unit 506 , and a warning notification unit 507 .

[0020] The detection device 70 is, for example, a visual sensor that detects the operator visually, and has the function of capturing the operator 90 to detect the position and movement of the operator 90. Specifically, the detection device 70 has the function of analyzing the captured image and detecting the position and movement of the operator 90 in the image, as well as the movement of the operator's hand 90. As a method of detecting the position of the human body and the hand in the image, various detection methods known in the art such as matching with a model image can be used. The detection device 70 provides the simulation device 50 with the detected position and movement of the operator 90.

[0021] The position calculation unit 501 calculates the relative position of the collaborative robot model 20M and the operator 90 in the virtual space based on the position and movement of the operator 90 in the real space provided by the detection device 70. The position calculation unit 501 also has a function as a distance calculation unit that calculates the relative distance between the collaborative robot model 20M and the operator 90 in the virtual space. The collaborative robot model 20M, the workpiece model 10M, and the peripheral device model 11M are arranged at predetermined positions on the coordinate system set in the virtual space through the three-dimensional model display unit 502. The position calculation unit 501 converts the position of the operator 90 provided by the detection device 70 (the position on the coordinate system set in the real space) into the position on the coordinate system set in the virtual space, thereby calculating the relative position of the collaborative robot model 20M and the operator 90 in the virtual space.

[0022] The three-dimensional model display unit 502 generates image data for arranging the collaborative robot model 20M, the workpiece model 10M, and the peripheral device model 11M in the virtual space based on the relative position of the operator 90 and the collaborative robot model 20M in the virtual space calculated by the position calculation unit 501. The three-dimensional model display unit 502 sends the generated image data to the head mounted display 80, and displays an image based on the image data (an image for arranging the robot system model in the virtual space) on the display unit 83 of the head mounted display 80.

[0023] The simulation execution unit 502 executes the simulation action of the robot system model. In this specification, the simulation action refers to the action of the robot system model in simulation according to the action program and the operator's teaching input. The simulation execution unit 502 obtains the relative position of the operator 90 and the collaborative robot model 20M in the virtual space from the position calculation unit 501, and performs the simulation action for the collaborative operation. By using this relative position, it is also possible to display a warning in the virtual space when the operator 90 and the collaborative robot model 20M are too close during the simulation action.

[0024] In addition, the simulation execution unit 502 may use the relative position between the operator 90 and the cooperative robot model 20M to provide at least one of the following safety actions to the cooperative robot model 20M.

[0025] (M1) During the simulated operation, when the operator 90 approaches the cooperative robot model 20M, the operation speed of the cooperative robot model 20M is reduced.

[0026] (M2) During the simulation operation, when the operator 90 comes into contact with the collaborative robot model 20M, the collaborative robot model 20M is stopped.

[0027] (M3) During the simulated operation, when the operator 90 presses the cooperative robot model 20M, the cooperative robot model 20M is caused to operate in accordance with the operation of the operator 90 .

[0028] The above-mentioned operation can be realized by analyzing the operation of the operator 90 captured by the detection device 70 and detecting the operation of the hand of the operator 90 .

[0029] The motion path information display unit 506 obtains the motion path information as information related to the motion of the robot model 20M from the motion program. The motion path information may also include the motion history of the collaborative robot model 20M. The motion path information display unit 506 has the function of displaying the motion path information as an image in a virtual space (the display unit 83 of the head mounted display 80). As an example, the motion path information display unit 506 displays the motion path information of the action before the collaborative robot model 20M performs the next action (for example, before the next action is about to be performed). As a result, the operator 90 can know the next action to be taken by the collaborative robot model 20M and can identify the next work to be performed.

[0030] The warning reporting unit 507 warns the operator 90 that the operator 90 is too close to the collaborative robot model 20M based on the relative distance between the operator 90 and the collaborative robot model 20M in the virtual space. For example, when the relative distance between the collaborative robot model 20M and the operator 90 in the virtual area becomes less than a predetermined value, the warning reporting unit 507 displays a warning message on the display unit 83 of the head mounted display 80. In addition, such a warning may also be made by a warning sound. In this case, the warning reporting unit 507 may also emit a warning sound from a speaker provided in the head mounted display 80 or the simulation device 50.

[0031] The head mounted display 80 includes an image processing unit 81 that processes the image data supplied from the three-dimensional model display unit 502 and displays the processed image on the display unit 83, and a display unit 83 provided corresponding to the eyes of the operator 90. As an example, the image processing unit 81 generates a binocular parallax image and displays the generated image on the display unit 83. Thus, the operator 90 can recognize the robot system model as a pseudo-three-dimensional object.

[0032] Figure 3 This is a flowchart of the simulation operation of this embodiment. Figure 3The simulation action is realized by the CPU of the simulation device 50 executing the simulation program stored in the storage device of the simulation device 50. In addition, the simulation program can be stored in various storage media (ROM, RAM, flash memory, HDD, CD-ROM, DVD-ROM, etc.) that can be read by a computer. As an example, by making the pre-prepared tentative action program of the collaborative robot Figure 1 The robot simulation system 100 is executed to find improvements in the action program and collaborative work. Figure 3 During the simulation, the collaborative robot model 20M can be set to perform the safety actions (M1) to (M3) described above, depending on the situation.

[0033] When the simulation device 50 is operated and the simulation program is started, the robot model 20M, the workpiece model 10M, and the peripheral device model 11M are first displayed in the virtual space (the display unit 83 of the head mounted display 80) through the three-dimensional model display unit 502 (step S1). Figure 1 The image shown in the dotted frame is displayed on the display unit 83 of the head mounted display 80.

[0034] Next, the detection device 70 starts to detect the position and movement of the operator 90 (step S2). The position and movement of the operator 90 detected by the detection device 70 are provided to the simulation device 50. Next, the simulation execution unit 503 starts the simulation action using the position and movement of the operator 90 detected by the detection device 70 (step S3). In the simulated action, the collaborative robot model 20M acts according to the action program. In addition, the operator 90 simulates the work of a person performing a collaborative operation. Here, as an example of a collaborative operation, the collaborative robot model 20M performs the action of carrying the workpiece model 10M and handing it over to a person, and the operator 90 performs the action of receiving the workpiece model 10M from the collaborative robot model 20M.

[0035] Figure 4 FIG. 4 shows the display state of the robot system model in the virtual space when the simulation action starts. Figure 4 As shown, an image of a state in which the robot model 20M starts to grasp and carry the workpiece model 10M is displayed on the display unit 83 of the head mounted display 80 worn by the operator 90. The operator 90 performs an action of receiving the workpiece model 10M from the robot model 20M according to the work procedure.

[0036] During the execution of the simulated action, the action path information display unit 506 generates an image representing the action path information of the collaborative robot model 20M based on the relative position of the operator 90 and the collaborative robot model 20M in the virtual space, and displays it in the virtual space (step S4). By displaying the action path information, the operator 90 can understand how the collaborative robot model 20M will move next. Therefore, the operator 90 does not need to understand the operation steps, and can also perform the simulation appropriately. The following is an example of displaying the action path information.

[0037] Figure 5 An example of displaying an image 101 indicating the next movement direction and speed of the collaborative robot model 20M as movement path information is shown. As an example, the image 101 is displayed just before the collaborative robot model 20M starts to move after grasping the workpiece model 10M. Thus, the operator 90 can instantly grasp the next movement direction and speed of the collaborative robot 20M.

[0038] Figure 6 An example of displaying a motion trajectory 102 indicating the motion of the collaborative robot model 20M as motion path information is shown. As an example, the motion trajectory 102 is displayed immediately before or during the motion of the collaborative robot model 20M. Thus, the operator 90 can understand the entire trajectory before the collaborative robot 20M starts to move.

[0039] Figure 7 An example of an image 103 that graphically represents the motion program (teaching points) of the collaborative robot model 20M as motion path information is shown. In addition, P1 to P4 in the image 103 represent teaching points, and the straight line connecting the teaching points P1 to P4 represents the path. As an example, the image 103 is displayed just before the collaborative robot model 20M starts to move or during the movement. Thus, the operator 90 can understand the entire path before the collaborative robot 20M starts to move.

[0040] Figure 8 An example of displaying a preview image 104 indicating the next action of the collaborative robot model 20M as action path information is shown. The preview image 104 is a pseudo image of the collaborative robot model 20M configured at the next action position of the collaborative robot model 20M. As an example, the preview image 104 is displayed just before the collaborative robot model 20M that has grasped the workpiece model 10M starts to move. Thus, the operator 90 can reliably identify the next action to be taken by the collaborative robot 20M. In addition, as a preview image, an animation of the robot model 20M moving to the next position can also be displayed.

[0041] return Figure 3As described above, during the simulation operation, when the operator 90 is too close to the robot model 20M (i.e., when the relative distance between the robot model 20M and the operator 90 in the virtual space becomes below a predetermined value), the warning reporting unit 507 displays a warning (step S5). Fig. 9 An example of a warning message display is shown. Fig. 9 In the example of , the warning message 106 is displayed together with the image of the robot system model on the display unit 83 of the head mounted display 80. By displaying such a warning during the simulation operation, it is possible to avoid contact or proximity between the operator 90 and the collaborative robot model 20M during the simulation execution.

[0042] Furthermore, since the position of the operator 90 in the virtual space is known during the simulation, the simulation execution unit 503 may also perform processing to confirm, for example, whether the operator 90 is at the position to receive the workpiece model 10M when the collaborative robot model 20M carries the workpiece model 10M to the destination during the simulation. Alternatively, when the collaborative operation includes the action of the collaborative robot model 20M receiving the workpiece model 10M from the operator 90, the simulation execution unit 503 may also confirm whether the operator 90 is at a position to hand over the workpiece model 10M when the collaborative robot model 20M performs the action of receiving the workpiece model 10M. That is, the simulation execution unit 503 may also perform processing to confirm whether the collaborative action of the operator 90 and the action of the collaborative robot model 20M based on the action program are easily coordinated.

[0043] The possibility of contact between the collaborative robot model 20M and the operator discovered through the simulated action can be used to change the action program and reconsider the work steps. For example, consider changing the action program (teaching point) to avoid contact between the collaborative robot model 20M and the operator, or adding a step for waiting for the collaborative robot to move to the operator's work steps. Alternatively, the configuration of peripheral devices and workpieces can also be reconsidered. The simulation execution unit 503 can also have a function of automatically changing the action path of the collaborative robot model 20M based on the relative distance between the operator 90 and the collaborative robot model 20M, for example, in a manner to avoid contact between the operator 90 and the collaborative robot model 20M. In addition, two or more of the image 101 (action direction and speed) of the above-mentioned action path information, the action trajectory 102, the image 103 (action program), and the preview image 104 can also be displayed simultaneously.

[0044] As described above, according to the present embodiment, the operator can perform the simulation while simulating and experiencing the work in which a human and a cooperative robot cooperate, and thus can more efficiently create an accurate action program and work procedure.

[0045] Although the embodiments of the present invention have been described above, it is apparent to those skilled in the art that various corrections and changes can be made without departing from the scope of the disclosure of the claims described below.

[0046] In the above-described embodiment, an example in which a visual sensor is used as the detection device for detecting the position and movement of the operator 90 is shown, but the detection device is not limited to such an example. Fig.10 1 is a block diagram showing the structure of the robot simulation system 100a when the wearable detection device 170 is used as a detection device for detecting the position and movement of the operator 90. Fig.10 For reference, a functional block diagram of the wearable detection device 170 is shown in parentheses. The robot simulation system 100a has the same structure as the above-mentioned robot simulation system 100, except that the wearable detection device 170 is used as a detection device for detecting the position and movement of the operator 90. The wearable detection device 170 has a structure in which motion sensors 75 composed of, for example, acceleration sensors, angular velocity sensors, etc. are provided in parts corresponding to multiple parts of the body (fingers, arms, torso, feet, etc.), and the movements and positions of various parts of the operator's 90 body captured by each motion sensor 75 are provided to the simulation device 50 via wireless communication. In the case where the operator 90 wears such a structure of the wearable detection device 170, it is also possible to perform the operations in the same manner as in the above-mentioned embodiment. Figure 3 In the case of the robot simulation system 100a, the same effects as those of the above-mentioned embodiment can be obtained.

[0047] In addition, the wearable detection device 170 may also be a structure having a driving mechanism of an electric actuator 76 respectively arranged at positions corresponding to a plurality of movement parts of the body (for example, a driving mechanism of an electric actuator that assists the movement of each joint part of the body). In this case, when the contact between the body part of the operator 90 and the collaborative robot model 20M in the virtual space is detected, the wearable detection device 170 can cause the electric actuator 76 at the position corresponding to the body part to operate and generate a load on the movement of the operator 90. For example, when the operator 90 presses the collaborative robot model 20M with his hand, the wearable detection device 170 can also cause the electric actuator 76 at the part of the operator 90's hand to operate and apply a load to the movement of the operator 90's hand. As an example, the simulation execution unit 503 may also send a detection signal to the wearable detection device 170 based on the position of the operator 90 in the three-dimensional virtual space, when the contact between the body part of the operator 90 and the collaborative robot model 20M in the three-dimensional virtual space is detected. The wearable detection device 170 operates the electric actuator 76 at the position corresponding to the body part based on the detection signal from the simulation execution unit 503 to generate a load on the movement of the operator 90 .

[0048] Figure 1 The robot simulation system 100 shown can also be used to create simulated actions of an action program by having the operator 90 perform teaching input to the collaborative robot model 20M. For example, an external controller that the operator 90 can operate by hand is connected to the simulation device 50. In this case, the operator 90 manually operates the external controller to perform teaching input while observing the image of the collaborative robot model 20M displayed on the display unit 83 of the head mounted display 80.

[0049] In order to solve the problem of the present disclosure, the following various modes and their effects can be provided. In addition, the numbers in the description of the following modes correspond to the reference numerals of the drawings of the present disclosure.

[0050] For example, a first method disclosed in the present invention is a simulation device 50 for simulating collaborative work performed by a collaborative robot and a human, the simulation device 50 comprising: a head-mounted display device 80, which is worn by an operator 90 who simulates performing the collaborative work; a detection unit 70, which detects the position of the operator 90 in the actual space; a three-dimensional model display unit 502, which displays an image of a robot system model including a collaborative robot model 20M configured in a three-dimensional virtual space in the head-mounted display device 80; and a simulation execution unit 503, which simulates the action of the collaborative robot model in the three-dimensional virtual space based on the action program of the collaborative robot that performs the collaborative work and the position of the operator 90 detected by the detection unit.

[0051] According to the first aspect, the operator can perform the simulation while simulating and experiencing the work of cooperation between humans and cooperative robots, so that reliable operation programs and work procedures can be created more efficiently.

[0052] In addition, the second mode of the present invention is further provided with a motion path information display unit 506 based on the simulation device 50 of the above-mentioned first mode. The motion path information display unit 506 obtains the motion path information representing the motion of the above-mentioned collaborative robot model 20M from the above-mentioned action program, and displays the above-mentioned motion path information as an image in the above-mentioned three-dimensional virtual space before the above-mentioned collaborative robot model 20M starts the above-mentioned action.

[0053] In addition, a third aspect of the present disclosure is the simulation device 50 of the second aspect, wherein the motion path information includes at least one of a motion direction and a speed of the collaborative robot model.

[0054] In addition, a fourth aspect of the present disclosure is based on the simulation device 50 of the second aspect or the third aspect, wherein the motion path information includes a motion trajectory of the collaborative robot model.

[0055] In addition, a fifth aspect of the present disclosure is the simulation device 50 of any one of the second to fourth aspects, wherein the motion path information includes a teaching point of the cooperative robot model.

[0056] In addition, a sixth aspect of the present disclosure is the simulation device 50 of any one of the second to fifth aspects, wherein the motion path information includes a preview image of the motion of the cooperative robot model.

[0057] In addition, the seventh mode of the present disclosure is further provided with, on the basis of the simulation device 50 of any one of the first to sixth modes, a distance calculation unit 501, which calculates the distance between the collaborative robot model and the operator in the three-dimensional virtual space based on the position of the operator detected by the detection unit; and a warning reporting unit 507, which issues a warning report when the distance calculated by the distance calculation unit becomes below a predetermined value.

[0058] Moreover, an eighth aspect of the present disclosure is the simulation device 50 of any one of the first to seventh aspects, wherein the detection unit 70 is a visual sensor that visually detects the operator.

[0059] In addition, a ninth aspect of the present disclosure is the simulation device 50 of any one of the first to seventh aspects, wherein the detection unit is a wearable detection device 170 that physically detects the movement of the operator's body.

[0060] In addition, the tenth mode of the present disclosure is based on the simulation device 50 of the ninth mode, and the wearable detection device 170 has actuators respectively arranged at positions corresponding to multiple movement parts of the body, and when the contact between the body parts of the operator 90 and the collaborative robot model in the three-dimensional virtual space is detected based on the position of the operator 90 detected by the detection unit 70, the simulation execution unit 503 sends a detection signal to the wearable detection device 170, and the wearable detection device 170 causes the actuator at the position corresponding to the body part to operate according to the detection signal from the simulation execution unit 503 to generate a load on the movement of the operator.

Claims

1. A simulation device for simulating collaborative work performed by a collaborative robot and a human, characterized in that: The simulation device comprises: a head mounted display device worn by an operator who simulates performing the collaborative work; a detection unit, which detects the position of the operator in the actual space and the movement of the operator; a three-dimensional model display unit that displays, on the head mounted display device, an image in which a robot system model including a cooperative robot model is arranged in a three-dimensional virtual space; and a simulation execution unit that causes the collaborative robot model to simulate motion in the three-dimensional virtual space based on an motion program of the collaborative robot that performs the collaborative work and the position of the operator detected by the detection unit, The simulation execution unit uses the relative position between the operator and the collaborative robot model to give the collaborative robot model at least one of the following safety actions: During the simulation action, when the operator approaches the collaborative robot model, the action speed of the collaborative robot model is reduced; During the simulation action, if the operator comes into contact with the collaborative robot model, stopping the collaborative robot model; and During the simulated operation, when the detection unit detects the operator's hand movement and determines that the operator has pressed the cooperative robot model, the cooperative robot model is caused to move in accordance with the operator's movement.

2. The simulation device according to claim 1, wherein: The simulation device further includes a motion path information display unit, which obtains motion path information representing the motion of the collaborative robot model from the motion program, and displays the motion path information as an image in the three-dimensional virtual space before the collaborative robot model starts the motion.

3. The simulation device according to claim 2, wherein: The motion path information includes at least one of the motion direction and speed of the collaborative robot model.

4. The simulation device according to claim 2 or 3, wherein: The motion path information includes the motion trajectory of the collaborative robot model.

5. The simulation device according to claim 2 or 3, wherein: The motion path information includes the teaching points of the collaborative robot model.

6. The simulation device according to claim 2 or 3, wherein: The motion path information includes a preview image of the motion of the collaborative robot model.

7. The simulation device according to any one of claims 1 to 3, wherein: The simulation device further comprises: a distance calculation unit that calculates the distance between the collaborative robot model and the operator in the three-dimensional virtual space based on the position of the operator detected by the detection unit; and A warning reporting unit reports a warning when the distance calculated by the distance calculating unit becomes equal to or smaller than a predetermined value.

8. The simulation device according to any one of claims 1 to 3, wherein: The detection unit is a visual sensor that visually detects the operator.

9. The simulation device according to any one of claims 1 to 3, wherein: The detection unit is a wearable detection device that physically detects the movement of the operator's body.

10. The simulation device according to claim 9, wherein: The wearable detection device includes actuators respectively arranged at positions corresponding to a plurality of movement parts of the body. When contact between a body part of the operator and the collaborative robot model in the three-dimensional virtual space is detected based on the position of the operator detected by the detection unit, the simulation execution unit sends a detection signal to the wearable detection device, The wearable detection device operates the actuator at a position corresponding to the body part based on the detection signal from the simulation execution unit to generate a load on the operator's action.

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