A robotic arm is nothing more than a mechatronic structure inspired by the conformation of the human arm and capable of performing various tasks. The ability to perform tasks, in relation to the "hand" that is given, makes robotic arms very versatile; they can be programmed to perform any task a human arm can perform, however grasping objects is certainly the most interesting and requested. Pick-and-place in general is one of the most complete tasks that can be required of a robotic arm; although it may seem a trivial and immediate gesture for a man, for a robot it turns out to be a very complex task, it is not a coincidence that its complexity makes it a task well suited for studies and research.