Master-slave systems are composed of two sections of master and slave robots. The master robot receives input commands from the operator and constructs required commands for the slave robot through control algorithms. There are two kinds of master-slave robots; master robots with a similar geometry with the slave robot and master robots with geometry different from the slave. The first kind usually is used for geometrically simple manipulators, but for more complex manipulators, it is difficult or in some cases impossible to use similar master and slave robots. Therefore in these cases a simple master is used to generate the required commands for motion of end-effector instead of required commands for joint motions. One important issue in these systems especially in susceptible applications is the force reflection from the slave robot to the master one. Because using this feedback, the operator is able to control the slave robot better and more accurate to do the task. Designing and control of a general master robot which can work with real tool and through force reflection produces a realistic feeling for operator is the main subject of this thesis. For this purpose, several structures are defined for master robot. Though some of these structures are unable to reflect the force because of inactive joints, but it is necessary to mention them to keep the logical procedure of the discussion. Four kinds of master robots are proposed in this thesis: inactive two link manipulator, active two link manipulator, four link macro-micro manipulator with active macro and inactive micro joints and finally four link macro-micro manipulator with active joints. At the beginning, two link manipulator investigated as a master robot. Simulations showed that the forces exerted to the operator hand using inactive robot are more than required force to move the tool itself. Then open loop and closed loop controllers were designed for active two link manipulator. Unsuitable performance of this robot at positions near singular configurations of the robot led us to propose four link robot structure as master robots. To overcome the redundancy, the motion strategy of the macro section was considered to decrease the forces exerted to the operator hand. The four link robot with active macro and inactive micro joints decreased the force exerted to the operator hand but was unable to reflect the force. Therefore the last structure, four link planar manipulator with all active joints proposed and an open loop controller was designed. The motion strategy for macro section was the same with the strategy of motion of previous structure. . Key Words: Master-slave Systems, Master Manipulator, Force Reflection