Robot system and robot control method

A robot system which performs work based on an operation command comprising:

• a motion sensor which detects an operation data indicating motion of the robot;
• a surrounding environment sensor which detects a surrounding environment data indicating condition of surrounding environment of the robot;
• an operation apparatus which is operated by an operator, and the operation apparatus detecting and outputting an operator-operating force which is an operating force applied by an operator;
• a controller configured to output a calculation operating force;
• and
• a relay apparatus which outputs the operation command based on the operator-operating force and the calculation operating force;
• wherein
• the controller is configured to estimate and output the calculation operating force based on a model, the operation data detected by the motion sensor, the surrounding environment data detected by the surrounding environment sensor, and the operation command outputted from the relay apparatus, the model being constructed by performing a machine learning of the operator-operating force, the surrounding environment data, the operation data and the operation command.