The topic of this thesis represents a portion of a larger multidisciplinary research project focused towards the design and development of a completely autonomous grape-harvesting robot. The final goal of the project is the implementation of a system that can perform vineyard harvesting operations in an independent, efficient, and precise way and with the least possible human intervention. The robot has the capability to navigate in the three-dimensional task space and also rely on various sources of information, such as visionary information picked up by the video camera, and pressure sensors located on the robotic hand, so as to complete its tasks with high reliability and accuracy.