Quite a while ago I wrote something similar. A Visual Basic program running on a PC that communicated with a PIC through the serial port. Visual Basic will let you fashion a GUI with buttons etc to execute code. I was controlling a pan and tilt servo device, so my buttons were up/down/left/right/center/scan. Each button just sent a command (a number) to the serial port. The PIC listened to the serial port and depending on what command was sent, would drive the proper servo by the desired amount.
I think I had some handshaking so the PC program knew when the PIC was done.
For a manipulator arm you might want to have the PIC send back some position info.
There may be better ways to do this, but this worked and was pretty simple. Visual Basic has lots of serial port examples to start from.
There are also good Visual Basic tutorials to learn it. But if you have no experience in coding, plan on investing some time.
Later on, I converted this to a Web page. Visual Web Developer (also part of Visual Studio) has a lot of what Visual Basic has and the programs carry over without a lot of effort. That way you can control the arm over the internet.
John




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