Abstract: The robot simulation apparatus includes: a workpiece model setting unit 11 that sets a workpiece model obtained by forming a model of a three-dimensional shape of a workpiece; a bulk pile data generating unit 20 that generates virtual bulk pile data of a plurality of workpiece models piled up in a virtual work space as a virtually formed work space; a region estimating unit 22 that identifies an estimated region that is estimated to be three-dimensionally measurable by a sensor unit which is disposed above the work space, based on a position and a posture of each workpiece model in the bulk pile data; and a picking motion simulating unit 30 that executes a simulation for verifying the picking motion from the bulk pile of the workpiece models in the virtual work space, based on data of the estimated region identified by the region estimating unit 22.

Abstract: The robot simulation apparatus includes: a picking motion simulating unit 30 that verifies a picking motion from a bulk pile of workpiece models in a virtual work space, with respect to bulk pile data generated by a bulk pile data generating unit 20. A physical simulation unit 60 is configured to re-execute a physical simulation with respect to the bulk pile data of a state obtained after one workpiece model is picked up after the picking motion simulating unit 30 grasps the workpiece model and at least a picking-up motion is started. The bulk pile data generating unit 20 is configured to update bulk pile data according to the result of the physical simulation executed by the physical simulation unit 60 during the simulation of the picking motion by the picking motion simulating unit 30.

Abstract: The robot simulation apparatus includes: a workpiece model setting unit 11 that sets a workpiece model obtained by forming a model of a three-dimensional shape of a workpiece; a bulk pile data generating unit 20 that generates virtual bulk pile data of a plurality of workpiece models piled up in a virtual work space as a virtually formed work space; a region estimating unit 22 that identifies an estimated region that is estimated to be three-dimensionally measurable by a sensor unit which is disposed above the work space, based on a position and a posture of each workpiece model in the bulk pile data; and a picking motion simulating unit 30 that executes a simulation for verifying the picking motion from the bulk pile of the workpiece models in the virtual work space, based on data of the estimated region identified by the region estimating unit 22.