The　unstructured　working　environment　poses　a　significant　challenge　in　achieving　autonomous　operation　of　hydraulic　manipulators,　which　has　led　to　the　widespread　use　of　master-slave　operation　in　practice.　However,　it　is　typical　for　the　hydraulic　manipulator　and　the　master　robot　to　exhibit　different　mechanical　configurations　(i.e.,　master-slave　heterogeneity).　This　can　result　in　excessive　range　differences　and　low　similarity　between　the　master　and　slave　workspaces,　leading　to　the　hydraulic　manipulator　being　unable　to　accurately　reproduce　the　actual　intentions　of　the　operator.　Furthermore,　the　nonlinear　dynamics　and　end-load　disturbance　during　operation　significantly　affect　the　control　accuracy　of　the　hydraulic　manipulator.　To　address　the　aforementioned　challenges　in　master-slave　operation,　this　article　proposes　a　novel　control　scheme　based　on　transformed　workspace　adaptive　mapping　(TWAM).　By　reconstructing　the　transformed　workspace,　the　similarity　between　the　master　and　slave　workspaces　has　been　improved.　Furthermore,　the　accurate　utilization　ratio　(AUR)　of　the　slave　workspace　has　been　expanded　through　an　adaptive　command　mapping　algorithm.　Moreover,　a　model-based　controller　that　takes　into　account　nonlinear　dynamics　and　the　end-load　disturbance　is　developed　to　ensure　precise　operation　in　various　loaded　states.　Finally,　a　series　of　experiments　are　conducted,　and　the　results　have　verified　the　practical　applicability　and　effectiveness　of　the　designed　method.　©　1982-2012　IEEE.