Evolution of user interfaces shapes the change in the human-computer interaction. With rapid emerge of three-dimensional (3-D) applications, the need for a new type of interaction device arises since traditional devices such as mouse, keyboard, and joystick become inefficient for interaction within these virtual environments. A better interaction in virtual environments requires a natural and suitable device. Hand Gesture concept in human computer interaction which has become popular in recent years can be used to develop such an interaction device. This study reports the development of a real-time, low cost, vision based hand gesture recognition system that works precisely on a relatively small restricted gesture space for single user robot control and human-computer interaction in such an environment that the lighting is relatively stable and the background is not complex.