Master-slave matching control method and robot system

The invention relates to the field of robots, and discloses a master-slave matching control method and a robot system. The master-slave matching control method comprises the steps that the current actual driving amount of a driven tool is obtained; based on the current actual driving quantity and a driving quantity residual calculation model, the driving quantity residual of the driven tool in the free motion state is determined; based on the current actual driving quantity and the driving quantity residual error, the current posture of the driven tool is determined; based on the current posture of the driven tool, determining a target posture of a handle of the main operator; and generating a control signal of the main operator based on the target posture of the handle of the main operator. 本公开涉及机器人领域，公开一种主从匹配的控制方法及机器人系统。主从匹配的控制方法包括：获得从动工具的当前实际驱动量；基于当前实际驱动量和驱动量残差计算模型，确定从动工具在自由运动状态下的驱动量残差；基于当前实际驱动量和驱动量残差，确定从动工具的当前姿态；基于从动工具的当前姿态，确定主操作器的手柄的目标姿态；以及基于主操作器的手柄的目标姿态，生成主操作器的控制信号。