Master-slave system and controlling method

A method of controlling a slave manipulated by a master, the method comprising:

• storing, in a memory, a regulating condition which regulates at least (1) a movement, a position and a posture of an operation end of the master, and (2) a position, a direction and a posture of an actuator of the slave;
• generating, by control circuitry according to operational information, a first command for a robot to operate the actuator to carry out an operation with movement of the actuator limited by the regulating condition, wherein
• the master includes the operation end which is operable by a user, an operation detector that detects and outputs the operational information that is information according to a first force applied to the operation end, and a force applier that applies a second force to the operation end,
• the slave includes the actuator that applies an action to an object, and
• the robot moves the actuator;
• outputting the first command to the robot;
• and
• outputting, according to the regulating condition, a second command to control the force applier to apply the second force to the operation end against the first force applied to the operation end so as to restrict movement of the operation end which would otherwise command the movement of the actuator that is limited by the regulating condition.