Apparatus simulating operations between a robot and workpiece models

In a computing environment, a method comprising:

• A robot simulation apparatus capable of creating and executing a robot program, comprising:
• a display means;
• a virtual space creating means for creating a virtual space on the display means for three-dimensionally expressing a working space in which a robot carries out a handling operation of workpieces;
• a workpiece model layout means for automatically arranging one or a plurality of workpiece models in appropriate postures at appropriate positions in selected one of a workpiece layout area model defined in the virtual space created by the virtual space creating means and a workpiece accommodation means model arranged in the virtual space, the workpiece model layout means arranges one workpiece model in a posture at a position, which are determined using a random number, above the workpiece accommodation means model and moves down the one workpiece model toward a bottom surface of the workpiece accommodation means model without changing the posture of the one workpiece model so that the one or plurality of workpiece models are automatically arranged;
• a virtual camera means for acquiring a virtual image of the workpiece models existing in a range of a designated visual field as viewed from a designated place in the virtual space;
• a correcting means for correcting teaching points of the robot program based on the virtual image acquired by the virtual camera means;
• and
• a simulation means for simulating a robot operation of handling the workpieces based on a program in which the teaching points are corrected by the correcting means.