The scope of the thesis is to develop an autonomous robotic arm for grape harvesting. The robotic arm must have the ability to reach a grape detected in the robot workspace, catch it and, in the end, release the grape at a collecting point after a cutting operation. Moreover, the robot must be able to iterate this process continuously. Firstly, to control the robot's movements, a motion system design is performed. The robotic arm's degrees of freedom are given by three stepper motors, with the addition of another one for the end-effector movement. The management of the motors' motion is accomplished through motor drivers which are equipped with a microprocessor.