In　order　to　meet　the　universality　of　the　human-robot　interface　on　the　master　side　and　the　specialty　of　the　interaction　between　the　slave　robot　and　environment,　the　teleoperation　robotic　system　usually　has　a　heterogeneous　master-slave　structure.　The　characteristics　of　master-slave　heterogeneity　will　bring　a　difficulty　to　the　tele-operation　robotic　system,　and　this　difficulty　is　prominently　manifested　in　the　differences　of　master-slave　movement　trajectories　and　limited　working　space　brought　by　the　restricted　slave　robot　movement.　In　order　to　realize　motion　mapping　control　of　the　heterogeneous　tele-operation　robotic　system　in　accordance　with　the　operator＇s　intuition,　this　paper　proposes　a　method　to　achieve　the　consistency　of　master-slave　motion　trajectory　via　combining　the　movement　of　the　slave　robotic　chassis.　When　the　working　spaces　of　the　master　and　slave　are　coincident,　we　adopt　the　methods　of　position　control　for　the　slave　wrist　and　orientation　mapping　for　the　end　effector.　When　the　movement　of　the　slave　robot　is　limited,　we　use　the　movement　of　the　slave　robot　platform　to　realize　the　dead　zone　avoidance.　Through　the　redundant　degrees　of　freedom　caused　by　the　back-and-forth,　left-right　movement　of　the　slave　robot　moving　platform,　the　movement　trajectory　of　the　master-slave　manipulator　is　consistent　and　to　further　realize　the　tele-operation　mapping　control　according　to　the　intuition　of　the　operator.　In　this　paper,　we　verify　the　effectiveness　of　the　proposed　algorithm　via　a　robotic　system　that　includes　an　excavator-type　slave　arm　and　Mecanum　wheel　omnidirectional　mobile　platform.　©　2020　IEEE.