The accuracy and performance of robotic manipulators are crucial to their commercial viability and widespread use in industry. Nowadays, robotic manipulators are required to achieve tasks more than what they were made for. In the past, speed and accuracy of a manipulator were the main focus of researchers. The new robotic evolution is teleoperated haptic devices. This thesis explores the different aspects of internet time delay simulations and their effects on remotely operated manipulators. The thesis also studies the dynamic modeling of the PUMA 560 and SideWinder 2 Joystick with force feedback, and their control interfaces for the purpose of designing and implementing a teleoperated haptic device interface. It is shown that the modeling should not stop at simulating a model, but rather the model should be validated.