Abstract In this article, artificial vision is presented as an application for the generation of trajectories through the capture of an operator’s movements using a structured light camera (Kinect) and applying a recognition algorithm to the body’s joints, a three-dimensional representation is made of the skeleton, taking as points of interest the articulation of the left hand to generate the gestural commands and the right hand to indicate the path that the robot must execute. Simulation results are obtained through a development environment where the kinematic model of the robot is incorporated, this indicates that it is possible to generate a trajectory through the human body using artificial vision.