I would recommend to use CODESYS control on Raspberry Pi. (back in the plc world combined with the Pi world)
You have probably direct connection via profinet or ethercat to the Robot?!
(What Kind of Robot is it exactly?)
Additional it is possible to read qr code on the pi...or even reading on the mobile phone.
Here is an example how to use the sensors from mobile phone transfer them by network variables to the Raspberry Pi plc
https://store.codesys.com/codesys-senso ... droid.html
CODESYS Project which you need to for this(to receive the data from the app).
Additional you could use this to control the visualisation on the plc (this is Independent from the sensor app):
https://play.google.com/store/apps/deta ... ys.webview