Robot simulation apparatus

A robot simulation apparatus for performing simulation of an operation program for a robot that, in a robot system comprising the robot grasping a grasped object and a workpiece in a workspace, presses a surface of the grasped object to a surface of the workpiece to transfer a transfer material arranged on the surface of the grasped object onto the surface of the workpiece, the robot simulation apparatus comprising:

• a robot model arrangement unit configured to arrange a robot model of the robot in a virtual space that three-dimensionally represents the workspace;
• a grasped object model arrangement unit configured to arrange a grasped object model of the grasped object such that the grasped object model is grasped by the robot model, in the virtual space;
• a workpiece model arrangement unit configured to arrange a workpiece model of the workpiece at a position that the grasped object model grasped by the robot model reaches, in the virtual space;
• an image generation unit configured to generate, in the robot simulation apparatus, an image of the robot system operating according to the operation program;
• a display unit configured to display the image of the robot system generated by the image generation unit;
• a first transfer material image display unit configured to display a transfer material image of the transfer material on a surface of the grasped object model;
• and
• a second transfer material image display unit configured to display, when the surface of the grasped object model comes into contact with a surface of the workpiece model, the transfer material image on the surface of the workpiece model such that the transfer material image is in a relationship of being reversed relative to the transfer material image displayed on the surface of the grasped object model.