We propose a new voice commanded system using speech recognition for robots. This RoboticsysTool System performs navigation instructed by isolated-word guiding linear and angular velocity of the TIAGo robot. We also tested the navigation of the TIAGo robot between points of interest commanded by short sentences. We have chosen the Speech Commands database and the Librispeech database to validate the isolated word recognizer and the continuous speech recognizer. We also added babble noise, using the ADDNoiseTool noise addition tool, to the noise generated by the engine TIAGo robot. We reached promising results with this real-time system. Thus, the execution of the MLP and RNN neural networks in this context of the babble noise obtained a satisfactory response for TIAGo robot navigation tasks.