Robot simulation device, and robot simulation program

A robot simulation device, comprising:

• an environment defining (“ED”) means for providing a virtual robot working environment in which a virtual robot works in a virtual working space where virtual obstacles are disposed, said virtual robot having a task of transferring a virtual object from a start point to a goal point, said ED means including a path determining means for determining a path of travel of said virtual object associated with said task of said virtual robot by designating via-points between said start point and said goal point;
• and
• a task simulation executing and displaying (“TSED”) means responsive to said ED means and said path determining means for executing simulation of said task of said virtual robot and displaying said executed simulation on a display;
• said TSED means including;
• a robot activity region determining and displaying means for determining from said determined path of travel of said virtual object a robot activity region where a moveable portion of said virtual region moves to achieve said task and for displaying said robot activity region on said display;
• and
• an interference region determining and displaying means responsive to said robot activity region for determining whether and where said task is interfered by said virtual obstacles thereby providing an interference region where said task is interfered by said virtual objects and for displaying said interference region on said display;
• whereby a desired executed simulation is obtained, in which said virtual robot successfully transfers said virtual object from said start point to said goal point without being interfered by said virtual obstacles.