Device for simulating operation of robot, device for controlling robot, and method for simulating operation of robot

A robot operation simulation method comprising:

• a step of acquiring a position of an attachment attached to a link connected to a joint of a robot relative to the robot, the joint including a rotatable or linearly movable axis, and a limiting condition on at least one of a velocity, an acceleration, and an acting force generated in the attachment when the robot operates;
• a step of calculating at least one of a velocity, an acceleration, and an acting force expected to be generated in the attachment according to the acquired position of the attachment relative to the robot when the robot executes operation, wherein the value of at least one of the velocity, the acceleration, and the acting force is different depends on the acquired position of the attachment relative to the robot;
• a step of comparing at least one of the calculated velocity, the calculated acceleration, and the calculated acting force with the limiting condition;
• a step of determining whether at least one of the velocity, the acceleration, and the acting force calculated satisfies the limiting condition, based on a comparison result;
• and
• a step of modifying the operation program in such a way that at least one of the velocity, the acceleration, and the acting force calculated satisfies the limiting condition, when at least one of the velocity, the acceleration, and the acting force calculated does not satisfy the limiting condition.