US Patent 7194396 Simulation device

A simulation device capable of displaying still images of a three-dimensional model of a machine such as a robot in the midst of an operation of the machine and simulating the operation from a start to the midst of the operation. The simulation device receives historical data (lapsing time information and positional information associated with the lapsing time information) of the operation of the machine to perform the simulation of the operation by displaying an image of the three-dimensional model of the machine by animation. When a capturing trigger signal is issued manually or automatically in the simulation, the image of the three-dimensional model is reduced and stored to be associated with the historical data of the operation of the machine at the issuance of the capturing trigger signal. The obtained reduced images are displayed in time series in the order of lapsing time.