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This paper presents a measurement platform of Bluetooth asynchronous links in order to obtain the intrinsic temporal constraints of this network and communication protocol. These temporal measurements are necessary for the application the authors wish to implement for mobile robot control through a Bluetooth communication link. The platform, as well as the measurement protocol, which is based on real-time communication operating systems, is presented. An application of radio and temporal data processing allowing a real-time evaluation of the global behaviour of the communicating system has been developed.