{
  "abstract": "During or after a simulation, a change in robot operation and cycle time before and after revision of a robot program, or a difference in the robot operation and cycle time between multiple robot programs, the contents of which are partially different, are compared. This robot simulation device has a three-dimensional model arrangement unit that arranges in a virtual space a robot model representing a robot, a simulation execution unit that executes a simulation with a robot program and operates a robot model, an operation log storage unit that stores the position/orientation of the robot model at each time point as an operation log, and an operation log reproduction unit that selects one or more operation logs, arranges in the virtual space an operation log reproduction robot model representing the robot, and operates the operation log reproduction robot model based on time points stored in the selected operation log(s).",
  "assignees": [
    "FANUC CORP"
  ],
  "authors": [
    "YONEYAMA HIROYUKI"
  ],
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    "name": "Creative Commons Attribution 4.0 International",
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  "published_at": "2026-09-15T19:09:17.372230Z",
  "publisher": "Nebula Innovations Limited",
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  "source_date": "2026-03-17",
  "source_id": "US-12576529-B2",
  "source_name": "the United States Patent and Trademark Office",
  "source_url": "https://patents.google.com/patent/US12576529B2",
  "supersedes": null,
  "title": "Robot simulation device",
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}