Abstract: In this study, a new architecture for tele-visual servoing of a robotic manipulator is presented. An overview of methods employed for controlling robotic manipulators using a camera is illustrated. Image-based and position-based approaches are considered. Matlab®, Simulink® and xPC Target® toolbox are used to design a novel user-friendly toolkit called Tele-Visual Servoing Toolkit (TViST) for tele-visual servoing of robotic manipulators. TViST has hardware in the loop (HIL) property, i.e., simulation and implementation of the system are performed in the same environment. Stability analysis of visual servoing systems in presence of time delay is discussed by Lyapunov theorem. Furthermore, effects of robot dynamic on performance of the system are evaluated. In terms of low level control, proportional and H-infinity controllers are implemented as well. As a case study, a 5DOF Gryphon manipulator is considered. Simulations for various mentioned matters are done to validate the theoretical issues. Experimental results for the manipulator employing a virtual camera and a real camera are presented to illustrate and verified the practical performance.