Master-slave heterogeneous teleoperation robot workspace mapping method

The invention discloses a master-slave heterogeneous teleoperation robot workspace mapping method. For the problems that a small-range operation space of a master end of master-slave heterogeneous teleoperation can hardly cover a large-range working space of a slave end and accurate position positioning cannot be achieved, a master end position-slave end speed mapping and master end position-slave end position mapping switching method is designed. The problem of working space coverage is solved through master end position-slave end speed mapping, slave end fine position positioning is achieved through master end position-slave end position mapping, and meanwhile the defect that quick reversing motion cannot be achieved in master end position-slave end speed mapping is overcome. A force feedback analog switch button of the seventh freedom degree of a handle is used as a signal for switching the two modes. The master-slave heterogeneous teleoperation robot workspace mapping method is convenient to implement, hi