IP QoS technology is one of the newest technologies of IP networking field. This paper applies IP QoS technology into Internet based robot teleoperation system to solve the inherent problems of network control system. Basing on Integrated Service Architecture, this paper designs teleoperation system with QoS support. The analysis of IP QoS presents the teleoperation with QoS support is reasonable and feasible. This paper presents the design prototype and method of robot teleoperation system.