(EN) A remote operation robot system comprises a slave arm that performs prescribed work, a master arm that has a motor to drive a joint and receives operations for moving the slave arm from an operator, acommand generation unit that generates a command to impart, in a prescribed direction to the master arm, a virtual external force independent from the force received by the slave arm externally, anda motor control unit that applies, to the motor, a drive current corresponding to the command sent from the command generation unit.
(ZH) 远程操作机器人系统具备：从动臂，其进行规定的作业；主控臂，其具有驱动关节的马达，从操作人员受理用于使从动臂进行动作的操作；指令生成部，其生成沿规定方向对主控臂施加与从动臂从外部受到的力独立的假想的外力的指令；以及马达控制部，其对马达赋予与从指令生成部发送来的指令对应的驱动电流。
