Abstract: How to overcome the difficulties produced from large time-delay and limited bandwidth in the communication link, is one of the important issues for space telerobots. In this paper, we introduce the principle of teleoperation applying teleprogramming, which is expected to promote the stability and the accuracy of the teleoperation through large time delay. According to the segmentation of the operation space, we propose a teleoperation scheme that contains multiple methods. We illustrate the implementation of our experimental teleoperation system based on teleprogramming, and describe the experimental results.