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Abstract

A control system (1) includes: an estimation unit (16) that estimates future state information of a slave robot (21) at a time after a predetermined period from a time corresponding to state information of a master robot (11) and the slave robot (21), the state information being acquired by a master device (10) among the master device (10) and a slave device (20), the master device (10) including the master robot (11) while the slave device (20) including the slave robot (21), the estimation of the future state information being performed by using the state information of the master robot (11) and the slave robot (21) and using a trained model (NN); and a controller (12, 13, 22, 23) that controls the master robot (11) and the slave robot (21) based on an estimation result obtained by the estimation unit (16) so as to achieve a correspondence between a position and an external force of the master robot (11) and a position and an external force of the slave robot (21), respectively. The trained model (NN) works such that, after having input of the state information, the trained model (NN) outputs the future state information.

First Claim