The invention provides a human collaborative robot system having an improved external force detection accuracy by machine learning. The human collaborative robot system having a function of detectinga force includes a human collaborative robot and a learning unit into which sensing data, internal data, and calculation data are input. The learning unit outputs a first force component applied to the human collaborative robot from outside, a second force component occurring in an operation of the human collaborative robot, and a third force component categorized as noise; and performs learning using supervised data in which inputs and correct labels obtained in advance are collected in pairs, wherein the correct labels of the supervised data are obtained by exerting a force on the human collaborative robot from outside, operating the human collaborative robot over a plurality of paths, and applying noise to the human collaborative robot, and the operation of the human collaborative robotis controlled based on the first force component output from the learning unit.
HUMAN COLLABORATIVE ROBOT SYSTEM HAVING IMPROVED EXTERNAL FORCE DETECTION ACCURACY BY MACHINE LEARNING