The teleoperated rescue robot system has significant practical value and realistic significance in light of the complicated and hazardous environment following the seismic tragedy. In this study, a master-end manipulator system for teleoperation is conceived and built based on the self-created large-load seven-degree-of-freedom (7-DOFs) hydraulic robotic arm, to give users a simple and practical method of dragging control. First, the master manipulator of the hydraulic rescue robotic arm is designed as a homogeneous seven-axis linkage structure in accordance with the master hand design principle, and the corresponding degrees of freedom are configured in accordance with the configuration and performance index of the redundant degrees of freedom of the slave end hydraulic manipulator arm. Next, we construct the synovial mode impedance control method after analyzing the motion of the actual main-end manipulator arm. The feasibility of the synovial-mode impedance algorithm and the operability of the joystick functioning as the main end of the teleoperation system are next tested through testing. The results demonstrate that, in comparison to the general impedance control, the suggested main-end manipulator may ensure a better traction effect and decrease torque output errors, which in turn enhances operation accuracy.