Operating a robot from a distant place using haptic and visual feedback gets enormous applications in various situations. But due to time-delay in the communication, a tele-operator sometimes has to go for a move-n-wait strategy. However, the problem can be minimized by using Augmented Reality (AR) concepts of superimposing virtual objects onto the real video image of the remote scene to create a simulation plan in the local machine. Operator can make trial and error to finalize his plan. This increases task safety and also reduces real-time network interaction by transferring only the finalized trajectory data. In this paper, we have presented a hierarchical design scheme for developing such an AR system. At first, a geometric model of a six Degree of Freedom (DOF) robot arm is developed. Based on that model state-of-art graphics system is used to model a 3D graphical arm. Then the graphics is superimposed onto the real image using accurate camera calibration and registration methods. Algorithms are also developed for activating motion in the visualization system. A graphical user interface (GUI) is designed to facilitate the task simulation. The design scheme is implemented and tested using Microsoft .NET framework, visual C# .NET and Microsoft DirectX with a stereovision system comprising of a PUMA-560 robot and operating over a LAN.