For the motion characteristics of cable-driven and hyper-redundant flexible manipulator and the requirements of on orbit teleoperation tasks such as rapid movement in a large work space, obstacle avoidance, narrow space operation and fine operation under collision conditions, a human-machine interaction system for teleoperation based on the combination of manual controller and virtual reality (VR) handle is designed and developed, which can adapt to a variety of working conditions. Based on the analysis on working conditions such as narrow space operation and obstacle avoidance, a teleoperation method is proposed based on the DOF (degree of freedom) dynamic combination and the synchronous planning of the end and the arm configuration. Finally, a typical experiment of crossing through the slit between satellite solar panels is carried out. The experiment verifies the engineering practicability of the teleoperation system and the feasibility of the teleoperation motion planning method. It shows that the combination of a variety of human-machine interaction modes of teleoperation system and the corresponding motion planning method enable the operator to participate in the teleoperation system in a more intuitive and natural way, and improve the safety and operation performance of the operator to complete complex teleoperation tasks effectively.