Robot simulation apparatus that calculates swept space

A simulation apparatus for performing simulation of a robot while three-dimensional models of the robot and a work tool attached to the robot are located in the same space, the simulation apparatus comprising:

• a programmed processor that:
• acquires a weight of the work tool,
• acquires a position in each drive axis of the robot at a set point set for each minute section of a motion path of the robot when an operation program of the robot is executed,
• acquires an operating speed in each drive axis at the set point,
• estimates a stop position where the robot is stopped after moving by inertia in each drive axis, based on the position in each drive axis of the robot, the operating speed in each drive axis, and the weight of the work tool, when an emergency stop of the robot is performed at the set point,
• adds a further set point between (i) the set point where the emergency stop of the robot is performed and (ii) the stop position, and
• calculates a swept space of the three-dimensional models of the robot and the work tool based on the operation program, the stop position and the further set point;
• and
• a display that displays the calculated swept space around the three-dimensional models of the robot and the work tool, wherein the displayed calculated swept space includes:
• an area through which the robot and the work tool move when driven based on the operation program, and
• an additional area through which the robot and the work tool move from the set point where the emergency stop of the robot is performed, through the further set point, to the stop position where the robot is stopped.