In　order　to　completely　map　the　motion　information　of　the　master　arm　to　the　slave　arm　in　the　heterogeneous　teleoperation　system,　a　new　kinematics　mapping　method　for　seven　degrees　of　freedom　(DOF)　robot　was　proposed　based　on　the　motion　characteristics　of　the　human　arm.　This　method　establishes　master-slave　mapping　matrix　based　on　the　pose　of　the　robot＇s　end　effector.　A　joint　fusion　strategy　is　proposed　to　perform　joint　fusion　on　a　robot　that　cannot　be　merged　into　a　shoulder　and　elbow　wrist　point　due　to　offset,　thereby　forming　an　equivalent　shoulder,　elbow,　wrist　point,　and　determine　the　parameters　of　the　mapping　matrix.　A　reference　coordinate　system　is　established　to　correct　the　base　drift　error　generated　during　teleoperation.　A　new　inverse　kinematics　method　is　proposed　for　a　7-DOF　robot　with　elbow　or　wrist　not　meeting.　The　method　uses　geometric　relations　to　solve　the　position　of　the　equivalent　shoulder　and　elbow　wrist　points,　and　solves　the　joint　angles　according　to　the　relationship　between　each　equivalent　point　and　each　joint　point.　The　simulation　and　experimental　results　show　that　the　proposed　mapping　method　can　make　the　slave　arm　complete　the　motion　in　the　proportional　model　according　to　the　information　provided　by　the　main　arm,　and　at　the　same　time,　the　arm　rotation　angle　is　the　same　as　that　of　the　main　arm　during　the　motion,　and　the　obstacle　avoidance　task　is　completed.　©　2020　Journal　of　Mechanical　Engineering.