There are traditionally two control modes for teleoperation with force feedback. The position control mode is usually adopted in bilateral teleoperation, while the rate control mode is suit for the master device whose workspace is limited. This paper presents a novel fixed point control mode, where the location of the slave manipulator is independent of the motion of the master device. In this mode, the positon of the master device can be moved to the initial origin while the location of the slave manipulator remains unchanged. Since the operator can perceive the reaction force between the slave manipulator and the remote environment at any position in the master workspace, the nonlinear dynamics of the master device can be linearized at the initial origin, so that the remote reaction force can be better perceived. The switch approach of these three control modes is proposed. Both four-channel and three-channel structures are used to achieve the hybrid teleoperation control system, and the simplified three-channel and two-channel structures are also evaluated.