Information processing apparatus for estimating behaviour of driving device that drives control target, information processing method and computer readable recording medium

An information processing apparatus, comprising:

• a first emulator estimating a behavior of a PLC for driving a first control target that moves on a first target trajectory;
• a second emulator estimating a behavior of a robot for driving a second control target that moves on a second target trajectory;
• and
• a hardware processor generates drawing data for visualizing and drawing movement of the first control target and movement of the second control target in a same three-dimensional virtual space,
• wherein the first emulator calculates a first command value that controls the PLC in each control cycle according to a calculation command in the same three-dimensional virtual space from the information processing apparatus,
• the second emulator calculates a second command value that controls the robot in each control cycle according to the calculation command in the same three-dimensional virtual space,
• the hardware processor generates the drawing data by using the first command value and the second command value, and
• the calculation command comprises a movement amount variable command that instructs to calculate a command value for setting a movement amount of movement in each control cycle variable,
• wherein the calculation command comprises a ×1 calculation command that instructs to calculate a command value for setting the movement amount in each control cycle equal to a unit movement amount that is predetermined,
• wherein the movement amount variable command comprises a ×N calculation command that instructs to calculate a command value for setting the movement amount in each control cycle to N times (where N>1) the unit movement amount,
• wherein the information processing apparatus detects a first change amount of the first command value between control cycles and a second change amount of the second command value between control cycles, and outputs the ×N calculation command in a section corresponding to a common elapsed time since a time of start of emulation in the first target trajectory and the second target trajectory and a section where both the first change amount and the second change amount are equal to or less than a threshold value.