Robot system and method of controlling the robot system

A robot system, comprising:

• a slave arm having a working end;
• a master arm having a manipulation end into which content of manipulation is inputted, the content of manipulation comprising a direction and an operating force input to the manipulation end;
• and
• a system controller configured to perform operations comprising generating a slave operating command for defining a target position of the working end based on the content of manipulation inputted into the manipulation end, wherein:
• the slave operating command comprises a limit equivalent range corresponding to a limit of operation of at least one of the slave arm and the master arm,
• the system controller performs operations further comprising:
• determining that the operating force exceeds a threshold of the limit equivalent range;
• processing to give a perception through the manipulation end by applying a force to the manipulator end;
• generating, based on the operating force and a reaction force acting on the working end or a workpiece held by the working end, the slave operating command and the master operating command for moving the manipulation end in a moving direction corresponding to a moving direction of the working end of the slave operating command;
• based on determining that the magnitude of the operating force exceeding a first threshold as the limit equivalent range, generating the master operating command for providing the perception by applying the force and moving the manipulation end in the direction of the operating force;
• generating a first temporary master operating command for moving the manipulation end in a moving direction corresponding to a moving direction of the working end commanded by a slave operating command generated based on the operating force and the reaction force;
• generating a second temporary master operating command based on the operating force;
• and
• setting the first temporary master operating command to the master operating command in a normal operating mode, and setting the second temporary master operating command to the master operating command in an informing operating mode;
• and
• based on the magnitude of the operating force exceeding the first threshold, setting the operating mode to the informing operating mode.