Displaying method of robot simulator

A displaying method on a robot simulator, the displaying method comprising:

• displaying an image of a robot to mount a tool at an end effector of a robot arm;
• displaying a tool coordinate system indicating an operating direction of the tool at the end effector of the robot arm which is displayed in the displaying of the image of the robot;
• and
• displaying a virtual reality (VR) image having a three-dimensional image at the end effector of the robot arm which is displayed in the displaying of the image of the robot,
• wherein the displaying of the VR image includes:
• displaying the VR image in a form of a hand image to intuitively display a working direction of the tool,
• wherein the displaying of the VR image includes:
• displaying the hand image so that the hand image overlaps with at least a portion of the tool coordinate system,
• wherein the displaying of the tool coordinate system includes:
• displaying the tool coordinate system with an X axis, a Y axis, and a Z axis perpendicular to one another in a three dimensional space,
• wherein the displaying of the tool coordinate system includes:
• setting the Z axis to be a lengthwise direction of the tool,
• wherein the displaying of the VR image further includes:
• matching the tool coordinate system to a direction of the hand image,
• wherein the matching of the tool coordinate system to the direction includes:
• displaying, as the X axis, a direction that a palm of the hand image indicates;
• displaying, as the Y axis, a direction that a thumb of the hand image indicates;
• and
• displaying, as the Z axis, a direction that remaining fingers of the hand image except for the thumb indicate.