In the telocentric chromosomes, the centromere is located towards the very end. It is not found in many species, including us humans.
Acrocentric chromosomes have the centromere visible from the center. This causes a very long and very short arm. These are present in humans.
Submetacentric chromosomes have the centromere a little away from the center. These are present in humans, such as chromosome 2.
Metacentric chromosomes have the centromere located in the center. These are present in humans, such as chromosome 19.