A master console of a surgical robot, the master console comprising: handles (120L,120R) configured to control robotic surgical instruments (212,214,216) of a slave robot; force/torque detectors configured to detect forces applied to the handles by an operator; a force compensator configured to generate force control signals by multiplying the forces detected by the force/torque detectors by a negative gain; a position detection unit to detect the position of each joint (i.e. a joint angle) of the handles; a velocity detection unit to detect the velocity of each joint of the handles; and a position/velocity error compensator configured to generate the motion control signals in order to compensate for differences between a position and a velocity of the at least one joint of each of the handles and a target position and a target velocity for the at least one joint of each of the handles, wherein the motion control signals are generated based on target positions and target velocities received from the slave robot, wherein the target positions and target velocities are based on detected positions and velocities of the respective joints (212c,214c,216c) of the robotic surgical instruments, the master console further comprising a master controller configured to provide control signals to a drive unit to drive (418, 420) at least one joint (105L, 105R, 107L, 107R) of each of the handles in order to control motion of the handles based on the motion control signals and the generated force control signals; and a drive unit which is configured, when receiving motion control signals to drive the handles in order to follow motion of the corresponding robotic surgical instruments, and when receiving force control signals, to cancel out the forces applied to the handles by the operator so that the operator does not feel any force while operating the handles. handles (120L,120R) configured to control robotic surgical instruments (212,214,216) of a slave robot; force/torque detectors configured to detect forces applied to the handles by an operator; a force compensator configured to generate force control signals by multiplying the forces detected by the force/torque detectors by a negative gain; a position detection unit to detect the position of each joint (i.e. a joint angle) of the handles; a velocity detection unit to detect the velocity of each joint of the handles; and a position/velocity error compensator configured to generate the motion control signals in order to compensate for differences between a position and a velocity of the at least one joint of each of the handles and a target position and a target velocity for the at least one joint of each of the handles, wherein the motion control signals are generated based on target positions and target velocities received from the slave robot, wherein the target positions and target velocities are based on detected positions and velocities of the respective joints (212c,214c,216c) of the robotic surgical instruments, the master console further comprising a master controller configured to provide control signals to a drive unit to drive (418, 420) at least one joint (105L, 105R, 107L, 107R) of each of the handles in order to control motion of the handles based on the motion control signals and the generated force control signals; and a drive unit which is configured, when receiving motion control signals to drive the handles in order to follow motion of the corresponding robotic surgical instruments, and when receiving force control signals, to cancel out the forces applied to the handles by the operator so that the operator does not feel any force while operating the handles. a master controller configured to provide control signals to a drive unit to drive (418, 420) at least one joint (105L, 105R, 107L, 107R) of each of the handles in order to control motion of the handles based on the motion control signals and the generated force control signals; and a drive unit which is configured, when receiving motion control signals to drive the handles in order to follow motion of the corresponding robotic surgical instruments, and when receiving force control signals, to cancel out the forces applied to the handles by the operator so that the operator does not feel any force while operating the handles.