Abstract: Aiming at the problems of poor environment of traditional remote control robot system, which leads to poor system control effect, time extension and low image matching accuracy, a kind of remote control robot system based on virtual reality is proposed and realized. Firstly, the overall structure of the system is designed based on virtual reality technology, including man-machine interface, information transmission and telerobot; Secondly, the kinematic model of mobile manipulator is constructed by coordinate calculation, the image stereo matching is completed by using trinocular camera, gesture input is realized based on data glove, the human-computer interaction design of the system is completed; Then the data transmission design is carried out by two-way communication; Finally, the system is controlled by the combination of synchronous display and predictive display. The experimental results show that the stereo vision image matching accuracy of the system is as high as 90%, the network communication delay is low, and the control effect of the system is good.