Immersive Technologies CEO Peter Salfinger told Australia's Mining Monthly the sale came at the end of a process the company had started about one year ago.
That process involved discussions with a number of large organisations.
However, Komatsu came up with the winning deal.
"We just thought it was the right time to see the company grow further," Salfinger said.
"We wanted to get a strategic partner."
As part of the deal Immersive will keep its headquarters in Perth, Western Australia and continue to develop its simulation systems.
It will operate as an independently managed, wholly-owned subsidiary of Komatsu and will continue to collaborate with original equipment manufacturers to address the performance improvement challenges of mixed equipment fleets.
According to Komatsu it will be given "the autonomy required to continue to deliver significant, quantifiable results to its mining customers".
Komatsu mining business division president Masayuki Moriyama said he looked forward to working with Immersive to enhance Komatsu's mining business and continue the success in its multiple OEM simulator strategy.
Salfinger will be remaining with Immersive for the foreseeable future.