A robot control system for a robot comprising an arm, the robot control system comprising the arm, a force sensor, a copying mold and a copying guide, the arm being capable of holding a tool while rotating the tool and capable of moving the tool in three-dimensional directions, the arm being equipped with a rotating mechanism provided for the tool, the robot control system further comprising - a load-acquiring unit configured to acquire an input signal indicating a force measurement from the force sensor measuring at least a force applied to the arm from the tool and the copying mold placed on a machining object during profile copying performed on the machining object by using the tool and by moving the arm while the copying guide attached to the arm and the copying mold are kept in contact with each other; and - a control-signal-generating unit configured to automatically control the arm such that the profile copying is performed, by generating a control signal for the arm regarding the profile copying in accordance with the force acquired by the load-acquiring unit and with control information for the arm regarding the profile copying, and by outputting the generated control signal to the arm; - the copying guide is a guide for positioning the tool in a tool radial direction perpendicular to an advancing direction of the tool by coming into contact with the copying mold in the tool radial direction, and is a guide for positioning the tool in the direction of the tool axis by coming into contact with the copying mold in the direction of the tool axis; - the control-signal-generating unit is configured to determine a control value for an advancing speed of the tool such that a force in the advancing direction of the tool becomes constant or falls within a predetermined range, and to generate a control signal for the arm regarding the profile copying such that the advancing speed of the tool becomes the determined control value for the advancing speed of the tool; - the control-signal-generating unit is configured to determine a control value for a position in the tool radial direction perpendicular to the advancing direction of the tool such that a force in the tool radial direction becomes constant or falls within a predetermined range, and to generate a control signal for the arm regarding the profile copying such that the position in the tool radial direction perpendicular to the advancing direction of the tool becomes the determined control value for the position in the tool radial direction; and - the control-signal-generating unit is configured to determine a control value for a position of the tool in a direction of a tool axis such that a force of the tool in the direction of the tool axis becomes constant or falls within a predetermined range, and to generate a control signal for the arm regarding the profile copying such that the position of the tool in the direction of the tool axis becomes the determined control value for the position of the tool in the direction of the tool axis. - a load-acquiring unit configured to acquire an input signal indicating a force measurement from the force sensor measuring at least a force applied to the arm from the tool and the copying mold placed on a machining object during profile copying performed on the machining object by using the tool and by moving the arm while the copying guide attached to the arm and the copying mold are kept in contact with each other; and - a control-signal-generating unit configured to automatically control the arm such that the profile copying is performed, by generating a control signal for the arm regarding the profile copying in accordance with the force acquired by the load-acquiring unit and with control information for the arm regarding the profile copying, and by outputting the generated control signal to the arm; - the copying guide is a guide for positioning the tool in a tool radial direction perpendicular to an advancing direction of the tool by coming into contact with the copying mold in the tool radial direction, and is a guide for positioning the tool in the direction of the tool axis by coming into contact with the copying mold in the direction of the tool axis; - the control-signal-generating unit is configured to determine a control value for an advancing speed of the tool such that a force in the advancing direction of the tool becomes constant or falls within a predetermined range, and to generate a control signal for the arm regarding the profile copying such that the advancing speed of the tool becomes the determined control value for the advancing speed of the tool; - the control-signal-generating unit is configured to determine a control value for a position in the tool radial direction perpendicular to the advancing direction of the tool such that a force in the tool radial direction becomes constant or falls within a predetermined range, and to generate a control signal for the arm regarding the profile copying such that the position in the tool radial direction perpendicular to the advancing direction of the tool becomes the determined control value for the position in the tool radial direction; and - the control-signal-generating unit is configured to determine a control value for a position of the tool in a direction of a tool axis such that a force of the tool in the direction of the tool axis becomes constant or falls within a predetermined range, and to generate a control signal for the arm regarding the profile copying such that the position of the tool in the direction of the tool axis becomes the determined control value for the position of the tool in the direction of the tool axis.