Abstract: Aiming at the difficulty of accurate controlling the robotic arm, and the complexity of probe - ground cooperation for the Chang’E-5 unmanned lunar surface sampling mission in a finite time period, a new control method and teleoperation mode which improves the efficiency of environmental perception, task planning and verification, fine-turning planning of manipulator end, and control implementation are proposed in this paper. Many technologies are applied into this method, such as establishing quantitative evaluation index system of sampling area to realize sampling points planning, using preplanning methods to complete mission planning and mechanical arm motion control planning, online learning to bring about the fine-tuning path in the manipulator end and analyzing fine-tuning using multi-view fusion images, automatic command based on state and controlling work progress real-time. The implementation results of Chang’E-5 lunar surface sampling mission in orbit indicate that new control method and teleoperation mode can greatly improve the sampling efficiency. It lays a foundation for the Mars and asteroid sample return mission in the future.