Accelerometer is one from many kinds of sensor which embedded on an Android based cellphone. Accelerometer works by measuring the acceleration of gravitation, where in a cellphone movement such as swinging or rotating will be read by the accelerometer and used to change the orientation of the phone screen, also in android games is used to control the movement, while bluetooth is a standard of wireless mobile communication technology to exchange data between cellphones. The application whom made by the authors, use bluetooth as a bridge to connect between Android based cellphone and mobile robot, as well as the Accelerometer which acts as mobile robot motion controller in real time. Mobile robot motion controlled by sending the value change of accelerometer to the mobile robot via serial communication. This application is expected to provide a change for the develeopment of mobile robot control.