Robot simulation device

A robot simulation device for simulating a force control operation which is performed while bringing a tool part mounted on a robot manipulator into contact with a target workpiece, the robot simulation device comprising:

• a memory which stores a motion program and a force control parameter, which is a set parameter related to the force control operation;
• and
• a processor configured to execute a simulation of the force control operation based on the motion program and the force control parameter,
• wherein
• the processor is also configured to generate, based on position information of the tool part obtained from results of the simulation of the force control operation, a virtual force received by the tool part from the target workpiece in a state in which the tool part is in contact with the target workpiece, and execute the simulation of the force control operation based on the virtual force and a target force set as the force control parameter, and
• the processor is further configured to:
• execute machine learning based on training data composed of input data including at least one of a coefficient related to rigidity of the target workpiece and a coefficient related to rigidity of the tool part, as well a distance of the tool part to the target workpiece in a state in which the tool part is in contact with the target workpiece, and response data, which is an actual pressing force corresponding to the input data, and
• obtain the virtual force using a learning model constructed by the machine learning.