Embedded computer control systems rely on software for performing their functions. These systems are essentially real-time systems and traditionally the research on these systems has been focused on functionality and performance. However, quality attributes as modifiability, portability, etc. are very important for developing high quality computer control software. One way of rising high quality is based on the study of software architectures. In this work, we present the followed process to obtain a reference architecture of a robot controller for a teleoperated service robot. To achieve this goal, we have followed an architecture-based development process using UML, a standard notation for the design of static and dynamic properties of systems.