The robot vision system using FPGA and real-time Linux is presented. The system mechanism uses two stepper motors for setting line of vision of the CMOS camera. The image sensor and the driver ICs are connected to external I/O ports of the FPGA. The image processing and motor drive circuits are implemented into the reconfigurable device as original logic. The image capture circuit applies state machine and FIFO memory buffer for adjusting timing of pixel data transmission. The motor drive circuit generates clock signal for steps according to the directive value from processor in the FPGA. The real-time device driver has been developed for visual feedback and object tracking applications. Cooperation between flexible hardware circuits and real-time software drivers enhances performance of robot vision applications.