The master thesis details the design and development of an autonomous control system for a robotic manipulator tailored to grape harvesting applications. The proposed system enables the robotic manipulator to autonomously detect, approach, grasp, cut, and deposit grapes in a designated collection zone through a fully automated operational sequence. This manipulator, offering six degrees of freedom powered by stepper motors, executes precise movements managed by a low-level control architecture centred on an STM32NUCLEO-F401RE microcontroller interfaced with EVLPOWERSTEP01 motor drivers, under the coordination of an NVIDIA Jetson Nano Orin. The system’s SPI-based communication between the NUCLEO microcontroller and motor drivers allows for seamless real-time motor command execution and parameter monitoring.