This paper focuses on the topic of teleoperation experiment and system evaluation for space robot. First, characteristics and key techniques of Space teleoperation system has been analyzed, and ten kinds of universal capabilities were summed up for a complete space teleoperation system based on its tele-operated, tele-scene, tele-system and tele-cooperative characteristics. Second, for each capability its detailed functional and/or quantitative evaluation items were summarized, and 92 functional items and 49 quantitative items covering all capabilities were listed for comprehensive teleoperation system evaluation. Then teleoperation experiment and system evaluation method was proposed and interpreted based on evaluation items. Finally, through the design of evaluation unit and example the effectiveness of the proposed method was validated.