The system consists of a multirobot architecture that gives access to both, an educational and industrial robot, through the Internet, by using advanced multimedia and distributed programming tools like Java, Java3D and CORBA. The main effort is focused on the user interface that allows specifying a task into a 3D model and sending commands to the real robot once the operator approves them. This kind of interaction has the ability to consume very little bandwidth in order to perform a remote manipulation through the Internet. The user interface offers Augmented and Virtual Reality possibilities to the users.