Abstract: The reason of the instability of bilateral teleoperation under time delay is analyzed. To guarantee the system stabilization，a control strategy is proposed based on Smith predictor controller and environment parameter online identification. Aiming at parameter identification in contacting operation， a parameter identification method is given combined with drawing spring experiments. The stability of control strategy and transparency of the teleoperation system are simulated. Finally, the drawing spring experiment is tested with time delay， and the validity of the control strategy is proved by the results.

Key words: space manipulator, onorbit servicing, bilateral teleoperation, predict control, online identification