Abstract: This paper presents a multi-scale delay prediction algorithm for real-time telerobotic systems over Internet,and this algorithm is performed in an on-line and real-time manner.Based on the structure of Internet,the main composition of network delay and its characteristics are analyzed.This algorithm is designed to predict the one trip time delay,which can reflect the real delay of data packet from peer to peer,other than the traditional round trip time delay.In order to predict the one trip time precisely,a time synchronization algorithm is also proposed.The usefulness and effectiveness of the developed algorithm are validated by theoretical analysis and Internet experiments between multiple places.