Building an Internet based tele-robotic system requires the developers being proficient in computer theory, network technology, control theory, etc. A flexible, open structured and module based framework for tele-control system is proposed on the basis of abstraction and analysis of existing Internet-based control systems. This framework is designed following the peer to peer (P2P) distributed computing model. As a key to the system, the XML based ontology of resources/modules/peers is discussed, so do the model for dynamically allocating of resources, based on which the coordination among modules or peers can then be implemented. The experiment system and its experimental results Drove the feasibility of the framework and its ease to use. Building an Internet based tele-robotic system requires the developers being proficient in computer theory, network technology, control theory, etc. A flexible, open structured and module based framework for tele-control system is proposed on the basis of abstraction and analysis of existing As a key to the system, the XML based ontology of resources / modules / peers is discussed, so do the model for dynamically allocating of resources, based on which the coordination among modules or peers can then be implemented. The experiment system and its experimental results Drove the feasibility of the framework and its ease to use.