Abstarct: In this thesis, in order to guarantee the stability and transparency of teleoperation systems in the presence of constant time delay in communication channel, nonlinearity and uncertainties, an adaptive fuzzy backstepping controller for the master and slave robots is separately designed . The proposed method has a good transparency in view point of synchronization error between the master and slave robots and guarantees the stability of the closed-loop system baxsed on the Lyapunov theory. Simulation results show the proper performance of the proposed control structure.