In　this　paper,　we　propose　a　motion　mapping　approach　for　intuitive　teleoperation　from　human　master　arm　to　a　heterogeneous　slave　robot　manipulator　with　excavator-like　arm　and　a　wrist　with　three　axes　intersecting　at　one　point.　With　the　motion　data　of　the　human　master　arm　captured　via　a　wearable　motion　capture　system,　we　first　set　up　two　spherical　coordinate　systems　on　the　shoulder　and　the　wrist　joints　of　the　master　arm,　and　accordingly　two　spherical　coordinate　systems　on　the　first　joint　and　the　intersection　point　of　the　wrist　joint　axes　of　the　slave　robot　arm,　respectively;　then,　we　normalize　the　position　of　the　master　wrist　joint　in　the　shoulder　spherical　coordinate　system　and　the　orientation　of　the　master　hand　in　the　wrist　spherical　coordinate　system;　finally,　we　map　the　normalized　human　motion　into　the　according　spherical　coordinate　systems　of　the　slave　robot　arm.　Simulation　results　validated　that　the　mapping　between　the　pair　of　shoulder　coordinate　systems　achieve　the　intuitive　position　control　of　the　slave　arm,　and　the　mapping　between　the　pair　of　wrist　coordinate　systems　achieve　the　same　orientation　between　the　master　hand　and　the　robotic　end-effector.　With　our　approach,　a　tele-operator　may　control　the　motion　of　the　heterogeneous　slave　robot　easily　and　intuitively　via　the　motion　of　his　arm.　The　training　time,　fatigue　degree　and　error　rate　of　the　tele-operator　will　be　significantly　reduced,　and　the　safety　and　efficiency　of　the　tele-operation　robotic　system　will　be　significantly　improved.　©　2019　IEEE.