Abstract: A force telepresence system, consisting PUMA562 as its welding robot, has been built The force created by the probe touching the seam is fed back to the operator through the slave robot. The operator can teleoperate the welding system with the monitoring equipment and force telepresence. The master-slave system adopting bilateral force. control based on wrist force sensor can solving the problem that the television monitoring equipment is influenced by the welding arc. The feeling can be had in the master-slave system as it is teleoperated, and the accuracy of weld tracing is thus improved.