Master-slave motion control method and robot system

The invention relates to the field of robot control, and discloses a master-slave motion control method and a robot system. The master-slave motion control method comprises the following steps: determining a current pose of a master operator; the current actual driving amount of the 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 pose of the driven tool is determined; determining a target pose of the driven tool based on the current pose of the master manipulator, the current pose of the driven tool and a pose relationship between the master manipulator and the driven tool; and generating a control signal of the driven tool based on the target pose of the driven tool. 本公开涉及机器人控制领域，公开一种主从运动的控制方法及机器人系统。主从运动的控制方法包括：确定主操作器的当前位姿；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