Nowadays, every industry's goal is to improve their manufacturing processes and to increase their cadence of production, in order to be competitive. This goal usually implies a higher automation level (i.e. an increase on the number of robots used in the production chain) and a more efficient use of the existing robots. This paper shows the state of art on teleoperation and simulation systems and proposes some possible network architectures devoted to the development of such systems. A method for the optimization of robot tasks is also suggested. The application proposed could teleoperate a robot arm with five degrees of freedom through Internet by using a previous simulation system and visual feedback. Different workers can access this simulation simultaneously. As a result, the number of robots required can be reduced on new applications or dangerous environments.