To solve the problems of the control system of the working assistant robot for elderly such as lower efficiency and weak complicity. A kind of open architecture, modularity, extensible embedded robot control system is developed. The main contents include: Studied on a rich hardware interface and drivers, function easy-to-modular extended robot development platform. The paper presented the platform features, design concepts and system solutions of the robot control system and gave details of building approaches of the platform. On this basis, the functional modules of the robot were designed and implemented with the modular design approach. Finally a specified working assistant robot was created by loading the completed modules into the control system platform and some experiments were carried out on the robot system. Experiments results show that the system platform can be a convenient and effective way to develop multi-functional working assistant robot for elderly.