Patent Document ID: 8594843
Application ID: 13537598
Patent Flag: 1

Claim One:
1. A robot simulation device for simulating a motion of a target section to be simulated, associated with a motion of a robot mechanical unit, wherein the target section corresponds to a portion of an umbilical member arranged on the robot mechanical unit, the portion of the umbilical member being exposed outside the robot mechanical unit, the robot simulation device comprising: a three-dimensional model generating part configured to generate a three-dimensional model of the target section to be simulated, as a stereo structure constituted by a plurality of mass points and a spring connecting the mass points to each other; a simulating part configured to carry out a physical simulation wherein an elastic force of the spring, a gravity force and an attenuation force, which are applied to the mass point, are calculated at specified time intervals, a repulsive force applied to the mass point is calculated at specified time intervals when the mass point interferes with the robot mechanical unit or external equipment, and a position of the mass point is changed at specified time intervals based on the elastic force of the spring, the gravity force, the attenuation force and the repulsive force, which are applied to the mass point; a storing part configured to previously store an actual static behavior of the umbilical member, an actual dynamic behavior of the umbilical member, and an actual dynamic behavior of the umbilical member when the umbilical member collides with a rigid body; and an automatically adjusting part configured to automatically adjust a spring constant of the spring so that a result of the physical simulation coincides with the actual static behavior of the umbilical member stored in the storing part, automatically adjust a coefficient of the attenuation force so that a result of the physical simulation coincides with the actual dynamic behavior of the umbilical member stored in the storing part, and automatically adjust a coefficient of the repulsive force so that a result of the physical simulation coincides with the actual dynamic behavior of the umbilical member when the umbilical member collides with the rigid body stored in the storing part.