Your complaint is "frames are not transferred in a way that allows me to properly remotely control the arm" but your question is about "fastest". If you have not verified that the frames come in in a usable manner, you should start there. If the issue is "fast" I'll assume you're not sure if there is a bandwidth or latency issue. In either case you should get best performance with as much of the system on cables as possible. Avoid WiFi if you can, or you must use it, in as few links as possible. I've seen cases using ROS where a poor wifi signal not only created extreme latency (many seconds) but also had frames coming out-of-order. Like a frame would show up 15 seconds out-of-sequence. If your robot arm is stationary then connect your camera with a cable. We can see from your question your wifi is likely not up to the task. No SW can fix a poor connection, but you should write your code so that robot stops when video stops.

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