Robot system control method and robot system

A robot system comprising:

• a master robot including a first storage, a second storage, and an arithmetic part;
• a first slave robot connected to the master robot;
• and
• a second slave robot connected to the master robot;
• wherein the arithmetic part generates a first transformation matrix that represents a positional relation between the master robot and the first slave robot, and the first storage stores the first transformation matrix,
• wherein the arithmetic part generates a second transformation matrix that represents a positional relation between the first slave robot and the second slave robot, and the second storage stores the second transformation matrix,
• wherein the arithmetic part obtains a first command using the first transformation matrix, and the arithmetic part instructs the first slave robot to operate based on the first command,
• wherein the arithmetic part obtains a second command using the first transformation matrix and the second transformation matrix, and the arithmetic part instructs the second slave robot to operate based on the second command,
• wherein the first slave robot performs a cooperative operation with the master robot based on the first command, and the second slave robot performs a cooperative operation with the master robot based on the second command, and
• wherein the master robot is distant from the second slave robot such that a tool center point of the master robot cannot be matched with a tool center point of the second slave robot.