Simulation device, simulation method, and computer program for robot system

A simulation method for a robot system in which a robot performs work on a plurality of workpieces conveyed by a conveyor device, the simulation method comprising:

• arranging, in a virtual space, a plurality of workpiece models and a conveyor device model that model the plurality of workpieces and the conveyor device, respectively;
• randomly determining an offset amount of each workpiece model from its reference position predetermined with respect to the conveyor device model;
• performing a conveying operation to sequentially convey the plurality of workpiece models, each of which is arranged at a position obtained from the reference position and the offset amount, by the conveyor device model;
• detecting interference between at least two workpiece models sequentially conveyed by the conveyor device model;
• searching a non-interfering position where the interference does not occur for at least one of the at least two workpiece models for which the interference is detected;
• and
• correcting a position of the at least one workpiece model arranged on the conveyor device model, based on the searched non-interfering position.

A computer-readable storage medium storing a program that when executed by a computer causes the computer to execute a simulation in which a robot performs work on a plurality of workpieces conveyed by a conveyor device, to function as:

• a model arrangement section configured to arrange, in a virtual space, a conveyor device model that models the conveyor device, and continuously arranges a workpiece model, that models the workpiece, on the conveyor device model;
• an offset determining section configured to randomly determine an offset amount of the workpiece model from its reference position predetermined with respect to the conveyor device model, each time the model arrangement section arranges the workpiece model, wherein the model arrangement section arranges the workpiece model at a position displaced from the reference position by the offset amount determined by the offset determining section;
• a conveying operation execution section configured to perform a conveying operation to sequentially convey the plurality of workpiece models arranged by the model arrangement section;
• an interference detection section configured to detect interference between at least two workpiece models sequentially conveyed by the conveyor device model;
• a non-interfering position search section configured to search a non-interfering position where the interference does not occurs for at least one of the at least two workpiece models for which the interference is detected;
• and
• a workpiece position correction section configured to correct the position of the at least one workpiece model arranged on the conveyor device model, based on the searched non interfering position.