Information processing apparatus, information processing method, and non-transitory computer-readable storage medium

An information processing method for an information processing apparatus that simulates an operation of an object to be controlled by a control apparatus and that causes a display unit to display a simulation result, the information processing method comprising:

• a step of receiving an input of a series of simulation command values, calculating a series of simulation values of a position or speed of the object to be controlled that operates in response to the series of simulation command values, and outputting the series of simulation values;
• a step of providing a simulation unit with the series of simulation command values and causing the display unit to display the series of simulation values output by the simulation unit;
• a step of communicating with the control apparatus;
• a step of acquiring a series of actual command values and a series of actual values of the position or speed of the object to be controlled from the control apparatus via a communication unit, the series of actual command values being output by the control apparatus at predetermined intervals in control cycles for controlling the operation of the object to be controlled, and the series of actual values being acquired by the control apparatus at the predetermined intervals in the control cycles;
• a step of providing the simulation unit with the series of actual command values serving as the series of simulation command values;
• and
• a step of causing the display unit to display the series of actual values in a mode where the series of actual values can be compared with the series of simulation values calculated by the simulation unit using the series of actual command values.

A non-transitory computer-readable storage medium storing therein a program for controlling an information processing apparatus that simulates an operation of an object controlled by a control apparatus and that causes a display unit to display a simulation result, the program causing a processor of the information processing apparatus to perform:

• a step of receiving an input of a series of simulation command values, calculating a series of simulation values of a position or speed of the object to be controlled that operates in response to the series of simulation command values, and outputting the series of simulation values;
• a step of providing a simulation unit with the series of simulation command values and causing the display unit to display the series of simulation values output by the simulation unit;
• a step of communicating with the control apparatus;
• a step of acquiring a series of actual command values and a series of actual values of the position or speed of the object to be controlled from the control apparatus via a communication unit, the series of actual command values being output by the control apparatus at predetermined intervals in control cycles for controlling the operation of the object to be controlled, and the series of actual values being acquired by the control apparatus at the predetermined intervals in the control cycles;
• a step of providing the simulation unit with the series of actual command values serving as the series of simulation command values;
• and
• a step of causing the display unit to display the series of actual values in a mode where the series of actual values can be compared with the series of simulation values calculated by the simulation unit using the series of actual command values.