Collaborative robotics differs from traditional robotics in several aspects. The main difference is that in traditional robotics the robot is located in a "safety cage" to avoid direct contact with users. In collaborative robotics, instead, the robot acts in a complementary way to the user, interacting with him during the performance. This project aims at realizing a robotic system capable of interacting with the user to perform collaborative tasks. In particular, the main goal of the robotic system is to recognize human gestures acquired by the camera, in order to be programmable by demonstration. The main components of the system developed in this thesis are a robotic manipulator, a depth-camera and some auxiliary tools to take care of some implementation aspects and to optimize the overall execution performance.