A dual-mode proportional mapping control method based on master-slave workspace and speed is proposed

aiming at the problem of lack of control flexibility of slave robot during the operation of the heterogeneous teleoperation system. The method limits the operation space of the master and slave ends

and use the proportional mapping approach to achieve the master-to-slave motion control. The feasibility of this approach is validated on Phantom Omni force feedback device and Kinova humanoid robot arm. Among them

Phantom Omni force feedback device is the operating master end of the remote operating system and the Kinova robot arm is the working slave end

bilateral control system experiment and object capture experiment are carried out. The experimental results show that the master end can effectively control the motion of slave end in the mapping workspace. Meanwhile

the master end can effectively control the slave end to achieve flexible operation in capturing experiment. The designed system can meet the requirements of control precision

its operation is flexible.