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Today, robotic applications are accompanied by machine vision systems, which monitor their activities and allow them to be controlled remotely. This paper presents the design and development of a control system for remote control of a robotic arm with 4 degrees of freedom (DOF) of motion using machine vision. The movements of the manipulator and end effector within the workspace are controlled by a joystick-type device that allows the user to generate the path to follow. To determine the position of the robotic arm, a Kinect sensor and reference figure are used. This figure is placed in the final position in the workspace, which is recognized by a machine vision system. The Kinect sensor estimates the distance between the manipulator and the reference object using an infrared (IR) camera depth map. Testing with the remote control system and the machine vision system demonstrated the method’s accuracy for calculating spatial distances using the Kinect sensor with low error in relation to actual measurements of distances within the manipulator’s working environment.