Abstract: A robot control device includes: a reliability computing unit that is inputted with a feature quantity obtained from a sensor signal indicating a measurement result obtained by an external sensor installed in a main body of a robot or a surrounding environment of the robot, and computes a reliability for the sensor signal on the basis of a temporal change or a spatial change of the feature quantity; a correction command value computing unit that computes a trajectory correction amount for correcting a trajectory of the robot on the basis of the reliability and correction information calculated on the basis of the feature quantity; and a command value generation unit that generates a location command value for the robot on the basis of a predetermined target trajectory of the robot and the trajectory correction amount.

Abstract: A robot controller includes: axis motor control units that control motors for driving axes of a robot; and an action command generation unit that generates a first action command having the shortest action time when the robot is moved from an action start point to an action goal point without considering an obstacle, and selects, from among the axes, a major axis having the longest action time when the action is performed in accordance with the first action command. The first action command includes another axis command, and a major axis command, and the action command generation unit adjusts the other axis command so as to reduce an action time according to the other axis command and outputs a second action command including the major axis command and the adjusted other axis command and corresponding to a first trajectory when determining that the first trajectory avoids a clash between the robot and the obstacle.

Abstract: A robot control device includes: a measuring unit to measure a robot control state indicative of a position and a posture of the robot; a work area setting unit to store, for each of work processes, a work area that is defined by work movement of the worker between a start and an end of each of the work processes and includes a space a body of the worker occupies and to set the work area corresponding to the work process currently carried out by the worker based on a signal specifying the work process currently carried out by the worker; and a robot command generator to generate a motion command for the robot based on the work area and the robot control state. The generator varies the command for the robot based on whether the robot is present in the work area.

Abstract: A brake controller includes: a necessary braking force calculator to calculate a necessary braking force that is a braking force generated by a mechanical brake apparatus in order to obtain a deceleration indicated by a brake command; an initial speed acquirer to acquires an initial speed; a target pressing force calculator to calculate a target pressing force that is a force for pressing a brake shoe against a wheel in order to obtain the necessary braking force; and a target pressure calculator to calculate a target pressure indicating a pressure of a fluid inside the brake cylinder that is necessary for obtaining the target pressing force and perform feedback control to adjust the target pressure based on a feedback signal acquired from a pressure sensor.

Abstract: An automatic train operation device includes: a step command start position determining unit to determine whether a train passes through a step command start position that is a position a certain distance before a target stop position of the train; a deceleration command generating unit to generate a deceleration command to control braking force of a braking device in a section from the step command start position that the train passes through to the target stop position at which the train stops; and a travel history storage unit to store travel state information and the deceleration command for the section as a plurality of travel histories. When the step command start position is determined by the step command start position determining unit, the deceleration command generating unit generates the deceleration command by using the travel histories.

Abstract: An automatic train operation device includes: a step command start position determining unit to determine whether a train passes through a step command start position that is a position a certain distance before a target stop position of the train; a deceleration command generating unit to generate a deceleration command to control braking force of a braking device in a section from the step command start position that the train passes through to the target stop position at which the train stops; and a travel history storage unit to store travel state information and the deceleration command for the section as a plurality of travel histories. When the step command start position is determined by the step command start position determining unit, the deceleration command generating unit generates the deceleration command by using the travel histories.

Abstract: A robot control device includes: a measuring unit to measure a robot control state indicative of a position and a posture of the robot; a work area setting unit to store, for each of work processes, a work area that is defined by work movement of the worker between a start and an end of each of the work processes and includes a space a body of the worker occupies and to set the work area corresponding to the work process currently carried out by the worker based on a signal specifying the work process currently carried out by the worker; and a robot command generator to generate a motion command for the robot based on the work area and the robot control state. The generator varies the command for the robot based on whether the robot is present in the work area.