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This paper presents a real-time robotic vision system that provides visual information for a control scheme of mobile manipulation. The hardware implementation consists of a CMOS image board and a TI DSP board which uses C6416 as the main processor. The merits of using these two boards are the construction of a low cost embedded platform with high performance. Meanwhile the software implementation proposes a visual servoing using a behavior-based approach to solving the mobile manipulator control problem. The description of the hardware and software implementation is given and experimental results are discussed.