Serial comunication between Arduino Due and BeagleBone Black


I have an arduino to control my CNC connected to my bealgeBone by usb, i want to listen the serial port from my arduino Due into my BeagleBone, it is possible to do?

The objective to do that in the future is using the serial port to send comands manually from my BBB to arduino due, using buttons or a Joystick connected in my BBB to jog my cnc.

Is just an idea i have in head from a time ago:)

Any help will be very apreciate