Abstract: A control system for use with a robotic device can include: a) a robot control module having an imaging component configured to capture images of an environment surrounding the robot and an output module that is communicably linked to the robot to control the movement of the its end effector; and b) a user interface apparatus that is remote from the robotic device includes a base station communicably linked to the robot control module to receive images of the environment surrounding the robot from the imaging component and to transmit movement instructions to the output module; a display component communicably linked to the base station and configured to display the images of the environment surrounding the robot to a user; and an end effector controller operable by the user to provide a goal position for the first end effector.