A mobile manipulator is defined as a mechanism composed by a serial manipulator located just above robotic platform. Besides, is a system with kinematic restrictions determined by an independent movement of the wheels and the degrees of freedom of the manipulator arm. The combination of the previous systems increases the advantages in terms of maneuverability, efficiency, range, between others. Another advantage of manipulator robot is the larger working space when it moves over a mobile platform allowing to reach different position on XY cartesian plane. Therefore, the design of a real-time system for a mobile manipulator will be shown in this paper.