This remote control robot system is provided with a master arm, and a slave arm which has multiple control modes, an automatic mode for operation based on pre-stored task programs and a manual mode for operation based on an operator's manipulations received by the master arm. The master arm is provided with one or more motors which drive a joint of the master arm, and with a motor drive unit which generates a torque command value for actuating a joint in accordance with an outside force acting on the master arm and which applies to the motors a drive current corresponding to the torque command value. When the control mode is manual mode, the motor drive unit generates a torque command value such that the joint is actuated against the frictional force of the motor and in accordance with the outside force.遠端操作機器人系統，其具備：主臂；以及從動臂，具有複數個控制模式，該複數個控制模式包含根據預先儲存之工作程式動作之自動模式與根據主臂所受理之操作者之操作動作之手動模式。主臂具有：驅動主臂之關節之1以上之馬達；以及馬達驅動部，生成按照施加於主臂之外力使關節動作之扭矩指令值，且將與扭矩指令值對應之驅動電流對馬達賦予。馬達驅動部，在控制模式為手動模式時，係以克服馬達之摩擦力使關節按照外力動作之方式生成扭矩指令值。
