This paper aims to develop a master-slave teleoperation system with low latency, high stability control, high sensitivity force feedback, and high precision pose perception. It conducts research on force-feedback teleoperation control technology to construct a multilevel bilateral force feedback control framework based on passivity theory. The study investigates variable-scale mapping methods for transformations in operational space and hybrid force compensation methods combining feedforward and feedback based on parameter identification of dynamic model. These methods aim to alleviate the conflicting relationship between stability and transparency, achieve high-precision transmission of pose information from the master end to the slave robot system, and address the difficulty for operators in perceiving interaction forces between the slave robot and the environment during tasks such as grasping and touching.