Abstarct: Abstract Time-delay induced by the communication network, as a major problem in teleoperation systems, along with uncertainties in robotic manipulators and remote environment, reduce the stability and trancparency of the internet-baxsed teleoperation systems. Therefor, in This paper proposes a robust adaptive algorithm to control the position of such systems in the presence of uncertainties and delays. Time-delay induced by the communication network, as a major problem in teleoperation systems, along with uncertainties in robotic manipulators and remote environment, reduce the stability and performance of the system. The proposed control algorithm generates chattering-free torques, which is one of the practical considerations for robotic applications. The stability of the proposed method is proved using the Lyapunov theory. Various simulations are performed in the MATLAB software, indicating the appropriate efficiency of the proposed method for the uncertain teleoperation system in the presence of time-varying delay of the communication channel.