Robot simulation apparatus

A robot simulation apparatus which performs, by an image-processing of image data captured with a camera, an off-line simulation of an operation of a robot that tracks an object being conveyed by a conveyance apparatus, and grasps said object at a predetermined position, comprising:

• a display section which displays models of at least said conveyance apparatus, said object, and said robot respectively laid out at predetermined positions;
• a movement condition designating section which designates a direction and a speed of movement of said object;
• an imaging condition designating section which designates a relative position of said camera with respect to said object and imaging conditions in order to obtain a still image of said object located within an imaging area;
• a teaching model storage section which stores a teaching model of said object to be compared with said still image obtained with said camera;
• a grasping position calculating section which calculates a grasping position of said object to be grasped by said robot based on a position and an attitude of said object obtained by comparing said still image with said teaching model, and on said direction and said speed of movement of said object;
• and,
• a teaching position setting section which sets a teaching position for said robot based on said grasping position.