Abstract: With the development of industrial technology, the teleoperating system is widely used in various fields. In teleoperation, The completion effect of the task is affected by the motion performance of the slave arm. Therefore, it is hoped that the performance of the slave arm can be optimized while the slave arm follows the trajectory of the human arm. However, the existing performance optimization methods will change the motion state of the robotic arm, resulting in the movement of the human and robotic arm is not similar. Therefore, a teleoperation performance optimization method based on an equivalent arm is proposed. Firstly, a kinematic mapping method was established based on the equivalent arm model to map the motion information of the human arm to the robot arm completely. Then, a performance optimization method is proposed to optimize the motion performance of the robotic arm by adjusting the equivalent arm. Finally, the performance optimization experiment is carried out. The experimental results show that the performance optimization method can improve the performance of the robotic arm while guaranteeing the kinematic similarity of the two arms.