The invention discloses a method for remote operation bilateral control by changing wave variables. Based on a traditional wave variable bilateral control method, a communication channel structure isimproved by establishing a master-slave dynamic model, and the transparency of a system is greatly improved while the system stability is ensured. Against the wave reflection phenomenon existing in the conventional wave variable bilateral control method, two parameters that can be independently selected according to different requirements are provided, the structure is simplified, the influence ofthe wave reflection on the transparency of a system is alleviated, and the position tracking performance and force feedback fidelity in the remote operation process are ensured. According to the method for remote operation bilateral control by changing the wave variables, the stability of a teleoperation system under the condition of delay can be ensured well, and the position tracking performance and the fidelity of force feedback at the slave end are improved. The method for remote operation bilateral control is easy to implement and apply and can mainly be used for bilateral control of theteleoperation system, and system stability and transparency are ensured.