NTU provides a Cloud Robot Simulation Platform for robotic-tool manipulation in online virtual simulation environment, which aims to support a visualization-based and progressive learning environment. Our solution allows everyone to engage in a constructive learning process interacting with a robot simulation environment focusing on increasing the manipulation skills acquired by students in each problem-based learning situation. We provide the simulation environment as a Web-Based pathway to make easier for learners and professionals to develop skills for the jobs in scenarios for Industry 4.0 and Health 4.0. Simulation, in robotics, has become a strategic tool used by many developers and manufacturers, it makes things easier (used for prototyping solutions, in order to plan procedures and preview expected results). In addition, one of the most important uses is for training, since students can learn the basics of how robots move and work, without the hazards of wrong manipulation for both students and machines. To do so, our application focuses on providing an appropriate interface that eases the learning curve. We tested our application with several users (students from Technical and Vocational Education and Training (TVET) careers) and obtained a very positive feedback about the software. We use 3D structured scenarios to represent real-world problems, these representations make possible to simulate different situations, and clearly describe the kinematic capabilities of a robot. Also, our application can connect a simulated robot with its real counterpart. In this way, users can learn how to control the real robot by using a virtual model of it (as in a Digital Twin scenario).