In　this　paper,　we　presented　a　geometric　motion　mapping　algorithm　that　translates　the　motor　commands　issued　by　the　human　master　arm　to　a　heterogeneous　slave　robot　manipulator　with　offset　joints　for　intuitive　teleoperation.　Firstly,　we　set　up　two　spherical　coordinate　systems　on　the　shoulder　of　the　master　tele-operator　and　the　slave　robotic　arm,　respectively.　Then,　we　proposed　a　motion　mapping　algorithm　comprising　three　phases　of　computations,　i.e.,　to　determine　the　positions　of　the　wrist　joints　of　the　robot　arm　according　to　the　target　position　and　orientation　of　the　slave　end-effector　(EE),　to　determine　the　configuration　of　the　robotic　arm　for　reaching　the　target　position　of　the　first　wrist　joint　of　the　slave　arm,　and　to　determine　the　rotation　angles　of　the　wrist　joints　for　realizing　the　expected　position/orientation　of　the　slave　EE.　Finally,　we　validate　the　proposed　algorithm　via　simulations　with　the　KIT　human　motion　capture　data.　The　proposed　algorithm　can　achieve　excellent　motion　mapping　results,　i.e.,　exactly　attain　the　expected　position/orientation　of　the　slave　EE　and　at　the　same　time　possess　similar　master/slave　elbow　motion.　Therefore,　the　studied　motion　mapping　algorithm　is　able　to　make　the　master　human　operator　feeling　natural　and　comfortable　for　intuitive　and　efficient　teleoperation.　©　2021　IEEE.