Can you be more specific what you want to achieve ?  Are you familiar with ARC, EZB, Linux and Raspberry PI ?

I want to use the RPI instead of a EZ-B, can it be linked to a pc running ARC and work as an interface (like the EZ-B)

Yes. You can read more here: https://synthiam.com/GettingStarted/Build-Robots/Raspberry-Pi-17681

Bear in mind Raspberry does not replace an EZB, from hardware perspective you have Digital ports, you don't have pwm servos and analog ports.  You will need additional hardware.

Thank you  very much, that was exactly what I was looking for, Sorry I did not find it with my searches.  J