The expansion of robotic systems' performance, as well as the need for such machines to work in complex environments (hazardous, small, distant, etc.), involves the need for user interfaces which permit efficient teleoperation. Virtual Reality based interfaces provide the user with a new method for robot task planning and control: he or she can define tasks in a very intuitive way by interacting with a 3D computer generated representation of the world, which is continuously updated thanks to multiple sensors fusion and analysis. The Swiss Federal Institute of Technology has successfully tested different kinds of teleoperations. In the early 90s, a transatlantic teleoperation of a conventional robot manipulator with a vision feedback system to update the virtual world was achieved. This approach was then extended to perform teleoperation of several mobile robots (Khepera, Koala) as well as to control microrobots used for microsystems' assembly in the micrometer range. One of the problems encountered with such an approach is the necessity to program a specific kinematic algorithm for each kind of manipulator. To provide a more general solution, we started a project aiming at the design of a 'kinematic generator' (CINEGEN) for the simulation of generic serial and parallel mechanical chains. With CINEGEN, each manipulator is defined with an ascii file description and its attached graphics files; inserting a new manipulator simply requires a new description file, and none of the existing tools require modification. To have a real time behavior, we have chosen a numerical method based on the pseudo-Jacobian method to generate the inverse kinematics of the robot. The results obtained with an object-oriented implementation on a graphic workstation are presented in this paper.