This study presents the remote control of a mobile robot using iPhone based on Wi-Fi communication. The paper proposes the following set of user interfaces : acceleration mode, arrow touch mode, and jog-shuttle mode. To evaluate the proposed three interfaces, a virtual robot is controlled in a monitor to follow a referenced trajectory using iPhone. In simulation, the standard deviation and summed errors are analysed for showing good and weak points of the proposed three interfaces. The proposed interface replace an additional remote controller requiring cost with a cellular phone. Results of an experiment show that the proposed interfaces can be effectively used for remote robot control.