Industrial robot simulation method, device and equipment and storage medium

The invention relates to the technical field of digital twin simulation, and discloses an industrial robot simulation method, device and equipment and a storage medium. The method comprises the following steps: acquiring latest sampling data of the industrial robot in a running state; when the newest sampling data is received, generating a first instruction by taking the posture corresponding to the newest sampling data as a simulation target; when the virtual robot completes the last simulation action and still does not obtain the latest sampling data, generating latest prediction data, and generating a second instruction by taking a posture corresponding to the latest prediction data as a simulation target; calculating the latest simulation speed; and controlling a tail end joint of the virtual robot to complete a simulation action corresponding to the first instruction or the second instruction at the latest simulation speed, and outputting simulation data. According to the embodiment of the invention, the