Abstarct: In this thesis an appropriate controller for bilateral teleoperation system in the presence of inherent problems, namely the time delay, external disturbances and system uncertainties is introduced. These problems are compensated through terminal sliding mode controller. This controller is designed to achieve the robot stability and transparency. Here, the 4-channel architecture is adopted and the stability of the system is derived in the presence of time delay and uncertainties. In order to demonstrate the validity of the proposed control scheme, the performance of the bilateral teleoperation system has been investigated through a simulation.