In the teleoperation process of space robot, the precision and efficiency are terribly impacted by the large time delay from the earth/space communication. By the virtual reality system, the ground operator can get the prediction of the teleoperation result to direct the next operation. In the process, virtual fixtures technology is used to decrease the complexity of teleoperation. Corrective measures based on timestamp and special collision detection algorithm based on 9points are used to improve the performance of the VR system. In this way, the ground operator can avoid the influence of the large time delay. Many experiments show that the VR system described works efficiently and precisely.