Robot simulation device

Abstract

During or after simulation execution, it is easy to compare the changes in robot actions or cycle times before and after the modification of the robot program, or to easily compare the differences in robot actions or cycle times between multiple robot programs with different content. A robot simulation device includes: a three-dimensional model placement unit for placing a robot model representing the robot in a three-dimensional manner in a virtual space; a simulation execution unit for simulating the robot program and causing the robot model to move; an action recording and memory unit for storing the position and posture of the robot model at each moment during the simulation of the robot program as action records; and an action record regeneration unit for selecting one or more action records from a plurality of action records, further placing a robot model for regenerating the action record representing the robot in a three-dimensional manner in the virtual space, and causing the robot model for regenerating the action record to move according to the moment already saved in the selected action record.

Description

[Technical Field]

[0001] This invention relates to a robot simulation device. [Previous Technology]

[0002] The following technical solution has been proposed: A three-dimensional model of a robot system having a robot equipped with tools, a workpiece, and peripheral machines is configured on a screen and displayed simultaneously, while the robot's actions are simulated on a computer. See, for example, Patent Document 1. Prior Art Documents Patent Documents

[0003] Patent Document 1: Japanese Patent Application Publication No. 2016-129915 [Summary of the Invention]

[0004] Summary of the Invention: Problem to be Solved by the Invention

[0005] However, during or after the execution of a simulation, it can be difficult to compare the changes in the robot's motion or cycle time before and after the correction of the robot program's taught position, or to compare the differences in the robot's motion or cycle time between multiple robot programs with different contents.

[0006] Therefore, it is desirable to be able to easily compare the changes in robot actions or cycle times before and after the modification of the robot program during or after the simulation, or to easily compare the differences in robot actions or cycle times between multiple robot programs with partially different content. This is a means to solve the problem.

[0007] One aspect of the robot simulation device disclosed herein is a robot simulation device that simulates a robot program in a robot system containing a robot, and includes: a three-dimensional model placement unit, which places a robot model representing the robot in three dimensions on a virtual space; a simulation execution unit, which simulates the robot program and causes the robot model to move; a motion log memory unit, which stores the position and posture of the robot model at each moment during the simulation of the robot program as motion logs; and a motion log regeneration unit, which selects one or more motion logs from the plurality of motion logs stored in the motion log memory unit, further places a robot model representing the robot in three dimensions for motion log regeneration on a virtual space, and causes the robot model for motion log regeneration to move according to the moment stored in the selected motion log. Effects of the Invention

[0008] Based on a single state, it is easy to compare the changes in robot actions or cycle times before and after the modification of the robot program during or after the simulation, or to easily compare the differences in robot actions or cycle times between multiple robot programs with different contents.

Implementation Method

[0010] Form used to implement the invention

[0011] <One Embodiment> The structure of this embodiment will be described in detail using drawings. An example is given where a robot equipped with a hand is mounted on a peripheral machine with a walking axis in a virtual workspace, and moves by holding a workpiece. Furthermore, the present invention is also applicable to situations where a robot holds and moves a workpiece without being mounted on a walking axis, or where the robot processes a workpiece.

[0012] Figure 1 is a functional block diagram showing a functional configuration example of a robot simulation device according to an embodiment. As shown in Figure 1, the robot simulation device 1 is a known computer and includes a control unit 10, an input unit 11, a display unit 12, and a memory unit 13. The control unit 10 includes a virtual space creation unit 101, a three-dimensional model configuration unit 102, a simulation execution unit 103, and a motion record playback unit 104. Furthermore, the memory unit 13 includes a motion record memory unit 131 and a model memory unit 132. Moreover, the robot simulation device 1 can also be connected to a robot control device (not shown) that controls the movement of a robot (not shown) and a control device (not shown) that controls the movement of a walking axis (not shown) via a network such as a LAN (Local Area Network) or the Internet. Alternatively, the robot simulation device 1 can also be directly connected to the robot control device (not shown) and the control device (not shown) via a connection interface (not shown).

[0013] <Input Unit 11> The input unit 11 may be, for example, a keyboard or a touch panel disposed on the display unit 12 as described later, and may accept input from operators.

[0014] <Display Unit 12> Display Unit 12 is, for example, a liquid crystal display. As described later, Display Unit 12 displays, for example, 3D CAD data (hereinafter also referred to as "robot model") representing a robot (not shown) equipped with hands, etc., in a three-dimensional manner, which is input (selected) by a user such as an operator through Input Unit 11, and displays, for example, 3D CAD data (hereinafter also referred to as "peripheral machine model") representing the peripheral machine that carries the robot's walking axis in a three-dimensional manner, as well as 3D CAD data of the workpiece and fixture held by the robot (not shown).

[0015] <Memory Unit 13> The memory unit 13 can be an SSD (Solid State Drive) or HDD (Hard Disk Drive), and can also store various robot programs that cause robots or peripheral machines (not shown) to move and grasp workpieces. As described later, the simulation execution unit 103 simulates the robot program, causing the robot model and peripheral machine model to move. During the simulation of the robot program, the motion record memory unit 131 stores the position and posture of the robot model and peripheral machine model at each moment as motion records for each robot program. As mentioned above, the model memory unit 132 stores, for example, 3D CAD data (robot model) of a robot (not shown), 3D CAD models (peripheral machine model) of a peripheral machine (not shown), and 3D CAD data of workpieces and fixtures (not shown), which can be displayed on the display unit 12 by input (selection) by the user through the input unit 11.

[0016] <Control Unit 10> The control unit 10 has the following conventional configuration as known to those skilled in the art: it has a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), CMOS (Complementary Metal-Oxide-Semiconductor) memory, etc., and these are configured to communicate with each other via a bus. The CPU is a processor that performs overall control of the robot simulation device 1. The CPU reads the system program and application program stored in the ROM via the bus, and controls the entire robot simulation device 1 according to the system program and application program. Thus, as shown in FIG1, the control unit 10 is configured to realize the functions of the virtual space creation unit 101, the three-dimensional model configuration unit 102, the simulation execution unit 103, and the motion record playback unit 104. Various data such as temporary calculation data or display data are stored in the RAM. Furthermore, the CMOS memory is configured as a non-volatile memory, and the aforementioned CMOS memory can be backed up by a battery (not shown), and can maintain its memory state even if the power supply to the robot simulation device 1 is turned off.

[0017] The Virtual Space Production Department 101 will create a virtual space that represents the work space in a three-dimensional way, wherein the aforementioned work space may be configured with robots (not shown), peripheral machines (not shown), workpieces (not shown), and fixtures, etc.

[0018] The 3D model configuration unit 102, for example, responds to input operations from the user's input unit 11, and within a 3D virtual space created by the virtual space creation unit 101, configures robot models (not shown), peripheral machine models (not shown), and models (3D CAD data, etc.) of workpieces or fixtures. Specifically, in order to configure a robot (not shown) within the virtual space, the 3D model configuration unit 102 reads the robot model from the model memory unit 132. The 3D model configuration unit 102 then configures the read robot model within the virtual space. Furthermore, in order to configure peripheral machine models (not shown) of travel axes within the virtual space, the 3D model configuration unit 102 reads the peripheral machine models of travel axes (not shown) from the model memory unit 132. The 3D model configuration unit 102 then configures the read peripheral machine models of travel axes within the virtual space. Furthermore, in order to configure models (3D CAD models) of workpieces and fixtures (not shown) in the virtual space, the 3D model configuration unit 102 reads models (3D CAD models) of workpieces and fixtures (not shown) from the model memory unit 132. The 3D model configuration unit 102 then configures the read models (3D CAD models) of workpieces and fixtures in the virtual space.

[0019] Figure 2 is an example of an image showing a robot system configured by the 3D model configuration unit 102. As shown in Figure 2, in the virtual space of the generated image, a robot model 200, a peripheral machine model 210, a workpiece model 220, and fixture models 230a and 230b are configured. The robot model 200 is a 3D model of a vertical multi-joint robot that moves by holding a workpiece, and is mounted on the walking axis, i.e., the peripheral machine model 210, and has a robot base model 201, a rotating body model 202, a robotic arm model 203, and a wrist model 204. The robotic arm model 203 has: an upper arm model 203a, which is rotatably connected to the rotating body model 202; and a forearm model 203b, which is rotatably connected to the front end of the upper arm model 203a. The wrist model 204 is a 3D CAD model of a hand (hereinafter also referred to as the "hand model") 205 set at the front end of the forearm model 203b in virtual space. Furthermore, the robot's robot program has virtual robot motion parameters for moving the robot model 200 and the peripheral machine model 210. These virtual robot motion parameters include: the origin and axis direction of the robot coordinate system Σr, the origin and axis direction of the peripheral machine coordinate system Σm and the workpiece coordinate system Σw, the origin and axis direction of the fixture coordinate systems Σj1 and Σj2, the maximum drive speed of the robot and the walking axis, and the virtual range of motion.

[0020] The robot coordinate system Σr is a coordinate system that is used as a benchmark when the robot model 200 moves in the virtual space, and is defined within the virtual space by means of the origin of the robot coordinate system Σr included in the virtual robot motion parameters as well as the axial direction. As shown in Fig. 2 , the origin of the robot coordinate system Σr is configured at the center of the robot base model 201 , and the spiral body model 202 rotates around the Z-axis of the robot coordinate system Σr . The peripheral machine coordinate system Σm is a coordinate system that specifies the position as well as the pose of the peripheral machine model 210 in the virtual space and is defined within the virtual space by means of the origin as well as the axial direction of the peripheral machine coordinate system Σm included in the virtual robot motion parameters. The workpiece coordinate system Σw is a coordinate system that specifies the position as well as the pose of the workpiece model 220 in the virtual space, and is defined within the virtual space by means of the origin and axial direction of the workpiece coordinate system Σw included in the virtual robot motion parameters. The jig coordinate systems Σj1 and Σj2 are coordinate systems that specify the positions and poses of jig models 230a and 230b in virtual space, and are defined in virtual space by means of the origin and axial direction of jig coordinate systems Σj1 and Σj2 included in the virtual robot motion parameters. As shown in FIG. Furthermore, the origin of the workpiece coordinate system Σw is, for example, configured on the upper surface of the workpiece model 220. The axis direction of the workpiece coordinate system Σw is set to the direction of the travel axis movement as the X-axis, and the lead straight direction of the upper surface of the workpiece model 220 is set as the Z-axis. Also, the origins of the jig coordinate systems Σj1 and Σj2 are configured on the upper surfaces of the jig models 230a and 230b. Thereby, the robot simulation device 1 may control the position of the tool front-end point of the hand model 205 by executing the robot program, and move the workpiece model 220 from the fixture model 230a to the fixture model 230b, for example.

[0021] The simulation execution unit 103 simulates the robot program, causing the robot model 200 and the peripheral machine model 210 to move. The simulation execution unit 103 records the position and posture of the robot model 200 and the peripheral machine model 210 at each moment in the simulation of the robot program as motion records and stores them in the motion record memory unit 131 for each robot program. Furthermore, the simulation execution unit 103 can also generate an image of the robot system moving on the robot simulation device 1 according to the robot program. Figures 3A to 3C are diagrams showing an example of the generated robot system image. The images in Figures 3A to 3C show the situation where the peripheral machine model 210 moves while the hand model 205 of the robot model 200 handles the workpiece model 220. The simulation execution unit 103 can also display the generated images in Figures 3A to 3C on the display unit 12. Furthermore, the simulation execution unit 103 can also end the simulation after the workpiece model 220 has been moved to the fixture model 230b, or it can return the robot model 200 and the peripheral machine model 210 to the starting position of the action to end the simulation.

[0022] The motion record regeneration unit 104 selects one or more motion records from the plurality of motion records stored in the motion record memory unit 131, and further arranges the motion record regeneration robot model (not shown) and the motion record regeneration peripheral machine model, which represent the robot (not shown) in a three-dimensional manner, in a virtual space, and makes the motion record regeneration robot model and the motion record regeneration peripheral machine model move according to the time stored in the selected motion record. Hereinafter, the following situations will be explained regarding the operation of the motion record regeneration unit 104: (a) the case where the simulation execution unit 103 performs simulation of the robot program or other robot programs again, and (b) the case where the simulation execution unit 103 does not perform simulation of the robot program or other robot programs.

[0023] (a) When the simulation execution unit 103 simulates a robot program or other robot programs again, the motion record reproduction unit 104 will select one motion record from the plurality of motion records stored in the motion record memory unit 131 based on the input operation of the user's input unit 11. For example, as shown in Figures 4A to 4C, the motion record reproduction unit 104 will arrange the motion record reproduction robot model 300 and the motion record reproduction peripheral machine model 310 (shown as dashed lines) together with the robot model 200 (shown as solid lines) and the peripheral machine model 210 (shown as solid lines) which are arranged by the three-dimensional model arrangement unit 102 and are operated by the simulation execution unit 103 in virtual space. The motion record reproduction unit 104 will display the image of the robot system in Figures 4A to 4C on the display unit 12. Furthermore, as shown in Figures 4A to 4C, in the simulated robot program, the movement positions of robot model 200 and peripheral machine model 210 are changed to be closer to the +X axis than those of robot model 300 and peripheral machine model 310 for motion record regeneration, and the position (processing position) of workpiece model 220 is changed to be closer to the +X axis than that of the selected motion record. The motion record regeneration unit 104 synchronizes the time in the simulation performed by the simulation execution unit 103 with the time already saved in the selected motion record, so that robot model 200 and peripheral machine model 210, and robot model 300 and peripheral machine model 310 for motion record regeneration move.

[0024] By doing so, the robot simulation device 1 can, during simulation execution, include peripheral machines to compare the changes in the robot's motion or cycle time before and after corrections to the robot program's taught position, or compare the differences in the robot's motion or cycle time between multiple robot programs with different content. That is, in the robot system, it is possible to compare the changes in the robot's motion or cycle time before and after corrections to the robot program's taught position, or compare the differences in the robot's motion or cycle time between multiple robot programs with different content. Furthermore, the user can select the robot program with the best motion that has a short cycle time and no wasted motion, and that the robot will not interfere with peripheral machines. Moreover, although the motion record reproduction unit 104 selects one motion record, it can also select two or more motion records. In this case, the motion record reproduction unit 104 can also arrange the motion record reproduction robot model 300 and the motion record reproduction peripheral machine model 310 in the virtual space, corresponding to the number of selected motion records.

[0025] (b) When the simulation execution unit 103 does not simulate a robot program or other robot programs, the motion record reproduction unit 104 will select two motion records from the plurality of motion records stored in the motion record memory unit 131 based on the input operation of the user's input unit 11. For example, as shown in Figures 5A to 5C, the motion record reproduction unit 104 will arrange the motion record reproduction robot model 300a and the motion record reproduction peripheral machine model 310a corresponding to one selected motion record, and the motion record reproduction robot model 300b and the motion record reproduction peripheral machine model 310b corresponding to the other motion record in virtual space. The motion record reproduction unit 104 will display the image of the robot system in Figures 5A to 5C on the display unit 12. Furthermore, since the motion record regeneration unit 104 only regenerates the selected motion record, a slider 400 indicating the regeneration progress can be displayed as shown in Figures 5A to 5C. Moreover, as shown in Figures 5A to 5C, similar to Figures 4A to 4C, the motion positions of the motion record regeneration robot model 300a and the motion record regeneration peripheral machine model 310a for one motion record are located further along the +X axis than the motion record regeneration robot model 300b and the motion record regeneration peripheral machine model 310b for another motion record, and the position (processing position) of the workpiece model 220 for one motion record is located further along the +X axis than the position of the workpiece model 220 for another motion record. The motion record regeneration unit 104, for example, responds to the user's operation of the slider 400, synchronizing the motion record regeneration robot model 300a and the motion record regeneration peripheral machine model 310a, and the motion record regeneration robot model 300b and the motion record regeneration peripheral machine model 310b at the time already saved in the selected motion record.

[0026] By doing so, the robot simulation device 1 can compare the changes in the robot's motion or cycle time before and after the correction of the robot program's taught position, or compare the differences in the robot's motion and cycle time between several robot programs with different content, including the peripheral machines, during or after the simulation. That is, in the robot system, it is possible to compare the changes in the robot's motion or cycle time before and after the correction of the robot program's taught position, or compare the differences in the robot's motion or cycle time between several robot programs with different content. Furthermore, the user can select the robot program with the best motion that has a short cycle time and no futile motion, and that the robot will not interfere with the peripheral machines. Moreover, although the motion record reproduction unit 104 selects two motion records, it can also select three or more motion records. In this case, the motion record reproduction unit 104 can also arrange the motion record reproduction robot model 300 and the motion record reproduction peripheral machine model 310 in the virtual space, corresponding to the number of selected motion records.

[0027] <Simulation Processing of Robot Simulation Device 1> Next, the simulation processing flow of robot simulation device 1 will be described with reference to FIG6. FIG6 is a flowchart explaining the simulation processing of robot simulation device 1. The process shown here is executed each time the robot's motion program is executed.

[0028] In step S1, the virtual space creation unit 101 creates a virtual space that represents the work space in a three-dimensional manner, wherein the aforementioned work space is equipped with a robot, peripheral machines, workpieces and fixtures.

[0029] In step S2, the three-dimensional model configuration unit 102 configures the robot model 200 of the robot, the peripheral machine model 210 of the walking axis, the workpiece model 220 of the workpiece, and the fixture models 230a and 230b of the fixture in the three-dimensional virtual space created in step S1.

[0030] In step S3, the simulation execution unit 103 simulates the robot program, causing the robot model 200 and the peripheral machine model 210 to move. The simulation execution unit 103 records the position and posture of the robot model 200 and the peripheral machine model 210 at each moment in the robot program simulation as motion records and stores them in the motion record memory unit 131 according to each robot program.

[0031] In step S4, the motion record regeneration unit 104 determines whether the simulation execution unit 103 will perform a robot program or other robot program simulation when regenerating the motion record. If a robot program or other robot program simulation is performed, the process proceeds to step S5. On the other hand, if a robot program or other robot program simulation is not performed, the process proceeds to step S7.

[0032] In step S5, the motion record regeneration unit 104 selects one or more motion records from the plurality of motion records stored in the motion record memory unit 131 based on the input operation of the user's input unit 11.

[0033] In step S6, the motion record regeneration unit 104 arranges the selected motion record regeneration robot model 300 and motion record regeneration peripheral machine model 310, along with the robot model 200 and peripheral machine model 210 configured by the 3D model configuration unit 102 and operated by the simulation execution unit 103, together in a virtual space. The motion record regeneration unit 104 synchronizes the time in the simulation with the time already saved in the selected motion record, so that the robot model 200 and peripheral machine model 210, along with the motion record regeneration robot model 300 and motion record regeneration peripheral machine model 310, can operate.

[0034] In step S7, the motion record regeneration unit 104 selects two or more motion records from the plurality of motion records stored in the motion record memory unit 131 based on the input operation of the user's input unit 11.

[0035] In step S8, the motion record regeneration unit 104 arranges the motion record regeneration robot model 300 and motion record regeneration peripheral machine model 310 of each motion record in the virtual space, and synchronizes the motion record regeneration robot model 300 and motion record regeneration peripheral machine model 310 of each motion record with the time already saved in the selected motion record in response to the user's operation of the slider 400.

[0036] As described above, a robot simulation device 1 in one embodiment can easily compare the changes in the robot's actions or cycle time before and after the modification of the robot program during or after the simulation, or easily compare the differences in the robot's actions or cycle time between multiple robot programs with different contents.

[0037] Although the above description is directed to one embodiment, the robot simulation device 1 is not limited to the above embodiment and includes variations and improvements within the scope of achieving the purpose.

[0038] <Modification 1> In one of the above embodiments, although the robot simulation device 1 is configured as a different device from the robot control device (not shown), it is not limited to this. For example, the robot simulation device 1 may also be included in the robot control device (not shown).

[0039] <Modification Example 2> For example, in the above embodiment, although the robot simulation device 1 is such that the robot model 200 moves the workpiece model 220 from the fixture model 230a to the fixture model 230b using the motion trajectories shown in Figures 3A to 3C, it is not limited to this. For example, the robot simulation device 1 can also change the virtual robot motion parameters such as the start and end points of the walking axis, the movement speed, the path and speed of the robot's tool tip point, etc., so that the robot model 200 moves the workpiece model 220 from the fixture model 230a to the fixture model 230b using various motion trajectories. Figures 7A to 7C are diagrams showing an example of a motion trajectory when the robot speed has been increased. As shown in Figures 7A to 7C, if the robot speed is increased, the distance will be shortened in places where the movement is smooth. Figures 8A to 8C are diagrams showing an example of a motion trajectory when all locations have been located. As shown in Figures 8A to 8C, the robot will be located and move in all locations. Figures 9A to 9C are examples of motion trajectories when the start and end points of the travel axis are changed. As shown in Figures 9A to 9C, if the start and end points of the travel axis are different, even if the motion trajectory of the robot's tool tip is the same, the speed of the travel axis will be different.

[0040] Furthermore, the various functions of the robot simulation device 1 included in one embodiment can be implemented separately by hardware, software, or a combination thereof. Here, "implemented by software" means implemented by executing a program loaded into a computer.

[0041] Programs can be stored and supplied to a computer using various types of non-transitory computer-readable medium. Non-transitory computer-readable medium includes various types of tangible storage medium. Examples of non-transitory computer-readable medium include: magnetic recording media (e.g., floppy disks, magnetic tapes, hard disk drives), optical recording media (e.g., magneto-optical discs), CD-ROM (Read Only Memory), CD-R, CD-R / W, semiconductor memory (e.g., mask ROM, PROM, EPROM, flash ROM, RAM). Furthermore, programs can also be supplied to a computer using various types of transient computer-readable medium. Examples of transient computer-readable medium include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can deliver programs to a computer via wired or wireless communication channels such as electrical wires and fiber optics.

[0042] Furthermore, the steps of the process of recording on the recording medium certainly include processing performed in a time sequence according to its order, but it does not necessarily have to be processed in a time sequence, and also includes processing performed in parallel or individually.

[0043] In other words, the robot simulation device disclosed herein can take various forms with the following configuration.

[0044] (1) The robot simulation device 1 disclosed herein is a robot simulation device for simulating robot programs in a robot system containing a robot, and includes: a three-dimensional model configuration unit 102, which configures a robot model 200 representing the robot in a three-dimensional manner on a virtual space; a simulation execution unit 103, which performs robot program simulation and causes the robot model 200 to move; an action record memory unit 131, which records the position and posture of the robot model 200 at each moment during robot program simulation as action records; and an action record regeneration unit 104, which selects one or more action records from the plurality of action records already stored in the action record memory unit 131, further configures a robot model 300 representing the robot in a three-dimensional manner for regenerating action records on a virtual space, and causes the robot model 300 for regenerating action records to move according to the moment already saved in the selected action record. According to this robot simulation device 1, it is easy to compare the changes in the robot's actions or cycle time before and after the modification of the robot program during or after the simulation, or it is easy to compare the differences in the robot's actions or cycle time between multiple robot programs with different contents.

[0045] (2) In the robot simulation device 1 described in (1), the motion record reproduction unit 104 can also synchronize the time in the simulation with the time already saved in the selected motion record when the simulation execution unit 103 executes the simulation of a robot program or other robot programs, so as to make the robot model 300 for motion record reproduction move. By doing so, the robot simulation device 1 can compare the changes in the robot's motion or cycle time before and after the correction when the robot program's teaching position or other corrections have been made, or compare the differences in the robot's motion or cycle time between a plurality of robot programs with different contents during the execution of the simulation.

[0046] (3) In the robot simulation device 1 described in (1) or (2), the robot system may also be equipped with a peripheral machine, and the three-dimensional model configuration unit 102 may further configure the peripheral machine model 210, which represents the peripheral machine in a three-dimensional manner, in a virtual space. The simulation execution unit 103 may further simulate the robot program to make the peripheral machine model 210 move. The motion recording memory unit 131 may further record the position and posture of the peripheral machine model 210 at each moment in the simulation of the robot program as a motion record. The motion recording regeneration unit 104 may further configure the peripheral machine model 310, which represents the peripheral machine in a three-dimensional manner, in a virtual space, and make the motion recording regeneration robot model 300 and the motion recording regeneration peripheral machine model 310 move according to the time saved in the selected motion record. In this way, the robot simulation device 1 can include surrounding machines during the simulation to compare the changes in the robot's actions or cycle time before and after the correction of the robot program's teaching position, or to compare the differences in the robot's actions or cycle time between multiple robot programs with different contents. [Simplified Explanation of the Diagram]

[0009] Figure 1 is a functional block diagram showing an example of the functional configuration of a robot simulation device in one embodiment. Figure 2 is a diagram showing an example of a robot system configured by a three-dimensional model configuration unit. Figure 3A is a diagram showing an example of a generated robot system. Figure 3B is a diagram showing an example of a generated robot system. Figure 3C is a diagram showing an example of a generated robot system. Figure 4A is a diagram showing an example of a robot system when the simulation actuator performs simulation of a robot program or other robot programs again. Figure 4B is a diagram showing an example of a robot system when the simulation actuator performs simulation of a robot program or other robot programs again. Figure 4C is a diagram showing an example of a robot system when the simulation actuator performs simulation of a robot program or other robot programs again. Figure 5A is a diagram showing an example of a robot system when the simulation actuator does not perform simulation of a robot program or other robot programs. Figure 5B is an example of an image showing a robot system when the simulation actuator is not simulating a robot program or other robot programs. Figure 5C is an example of an image showing a robot system when the simulation actuator is not simulating a robot program or other robot programs. Figure 6 is a flowchart illustrating the simulation processing of the robot simulation device. Figure 7A is an example of a motion trajectory showing an increased robot speed. Figure 7B is an example of a motion trajectory showing an increased robot speed. Figure 7C is an example of a motion trajectory showing an increased robot speed. Figure 8A is an example of a motion trajectory showing a complete local positioning. Figure 8B is an example of a motion trajectory showing a complete local positioning. Figure 8C is an example of a motion trajectory showing a complete local positioning. Figure 9A is an example of a motion trajectory showing a changed start and end point of the travel axis. Figure 9B is an example of a motion trajectory showing a changed start and end point of the travel axis. Figure 9C is an example of a motion trajectory showing a changed start and end point of the travel axis.

Claims

1. A robot simulation apparatus for simulating a plurality of robot programs, the robot simulation apparatus comprising: a three-dimensional model placement unit for placing a robot model representing the robot in a three-dimensional manner in a virtual space; a simulation execution unit for simulating at least one robot program included in the plurality of robot programs, causing the robot model to move; a motion recording and memory unit for recording the position and posture of the robot model at each moment during the simulation of the robot program as motion records and memorizing them for each robot program; and a motion record reproduction unit for selecting one or more motion records already memorized in the motion record memory unit, further placing a robot model representing the robot in a three-dimensional manner for motion record reproduction in the virtual space, and causing the robot model for motion record reproduction to move according to the moment already saved in the selected motion record. When the aforementioned motion record regeneration unit executes the aforementioned robot program, or a modified version of the aforementioned robot program, or other robot program simulations by the aforementioned simulation execution unit, it synchronizes the time in the simulation with the time already saved in the selected aforementioned motion record, so as to enable the robot model to move using the aforementioned motion record regeneration.

2. The robot simulation apparatus of claim 1, wherein the robot system further comprises peripheral machines, the three-dimensional model configuration unit further configures a peripheral machine model representing the peripheral machine in three dimensions on the virtual space, the simulation execution unit further simulates the robot program to make the peripheral machine model move, the motion recording memory unit further records the position and posture of the peripheral machine model at each moment in the simulation of the robot program as motion records, and the motion record regeneration unit further configures a peripheral machine model representing the peripheral machine in three dimensions for motion record regeneration on the virtual space, and makes the robot model for motion record regeneration and the peripheral machine model for motion record regeneration move according to the time already saved in the selected aforementioned motion record.

Images