Patent ID: 7881917

Claim:
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.