The main objective of this thesis is to develop an inverse kinematic control to move the Hannes arm in a real and virtual environment. The control system is able to convert the movements of the end-effector, synthesized via 3D joystick or keyboard to joint angles of the upper limb arm, measured by Inertial Measurement Units (IMU), remotely. The 3D-position of the end-effector (Hannes hand) must be converted into reference signals for the joint angles of the robotic system. The validation of the control method is performed comparing the estimated joint angles via inverse kinematics with the joint angles measured by the IMUs.