This document describes the architecture of a tracking system with two degrees of freedom (pan and tilt), endowed with artificial vision to follow the path of a moving object. The mechanism with a fixed base was designed to cover lateral and vertical ranges of movement, similar to the visual field in humans, limiting its depth by the resolution of the camera. The object that defines the motion path presents color uniformity across its surface, becoming the main feature in which the recognition and tracking algorithm were based. The tracking is performed by reducing the error between the object position and the reference axis of the camera. Several tests were carried out to evaluate the control and visual systems and to illustrate the behavior of the proposed methods.