Robot control device, robot, and simulation device

A system for controlling an industrial robot, comprising:

• a simulation processor configured to (i) perform a simulation of movement of a virtual robot performing an operation in a virtual space, wherein the virtual robot is not a real robot, and (ii) generate and store a simulation result based on the simulation, wherein the simulation result includes information indicating an operation program used to control the virtual robot during the simulation;
• and
• a controller configured to, subsequent to storing the simulation result indicating the operation program used to control the virtual robot during the simulation, control actual movement of the industrial robot based on the simulation result previously stored and generated using the virtual robot,
• wherein, to generate the simulation result, the simulation processor is configured to:
• define, in the virtual space, a first region and a second region, wherein the second region is located inside of the first region, wherein the second region surrounds a predetermined object within the virtual space, and wherein the first region surrounds the second region,
• control movement of the virtual robot within the virtual space,
• in response to a determination that a predetermined portion of the virtual robot has intruded from a region outside of the first region into the first region, lower an operating speed of the virtual robot to suppress movement of the virtual robot further into the first region, and
• in response to a determination that the predetermined portion of the virtual robot has intruded into the second region, stop the movement of the virtual robot or retract the virtual robot from the second region to prevent collision of the virtual robot with the predetermined object in the second region.