Abstract: According to the severe environment in space,this paper describes the whole simulation scene build on the ground based on teleoperation safety analyses.Corrective Measures based on timestamps and special collision detection algorithm based on virtual fixtures are used to improve the performance of the VR system.Besides,many experiments with real robot show that the VR system described in this paper works efficiently and precisely.It is very helpful for the operator to avoid the large time delay and keep hardwares safe from improper operation.