Simulator, simulation method, and simulation program

A simulation method performed in a simulator comprising a processor coupled to a memory, the processor configured by a program stored in the memory to perform a simulation of a control program executed in a controller that controls motion of a machine that manipulates an object, wherein

• the method comprises:
• calculating a command value for moving a virtual machine according to the control program and based on a position of a virtual object wherein the virtual machine corresponds to the machine which manipulates the object and wherein the virtual object is manipulated by the virtual machine in a virtual space and corresponds to the object manipulated by the machine;
• calculating motion of the virtual machine which is moved in accordance with the calculated command value;
• calculating motion of the virtual object which is moved in accordance with the calculated motion of the virtual machine;
• creating data for displaying one of:
• the calculated motion of the virtual machine;
• and the calculated motion of the virtual object;
• determining a condition of the object or the machine from a real space image;
• and
• calculating an initial condition of the object or the machine from the determined condition, wherein
• calculating the command value for moving the virtual machine comprises calculating the command value in a condition in which the calculated initial condition is a condition at a starting time of the simulation.

A non-transitory computer readable medium storing a simulation program configured to be executed in a simulator comprising a processor coupled to a memory, the processor configured to perform a simulation of a control program executed in a controller that controls motion of a machine that manipulates an object, wherein

• the simulation program causes the processor to perform operations comprising:
• calculating a command value for moving a virtual machine according to the control program and based on a position of a virtual object wherein the virtual machine corresponds to the machine that manipulates the object and wherein the virtual object is manipulated by the virtual machine in a virtual space and corresponds to the object manipulated by the machine;
• calculating motion of the virtual machine which is moved in accordance with the calculated command value;
• calculating motion of the virtual object which is moved in accordance with the calculated motion of the virtual machine;
• creating data for displaying one of:
• the calculated motion of the virtual machine;
• and the calculated motion of the virtual object;
• determining a condition of the object or the machine from a real space image;
• and
• calculating an initial condition of the object or the machine from the determined condition, wherein
• calculating the command value for moving the virtual machine comprises calculating the command value in a condition in which the calculated initial condition is a condition at a starting time of the simulation.