This thesis presents the design and development of an autonomous robot specifically engineered for grape harvesting. The robot comprises a primary manipulator, a hand-like end effector equipped with pressure sensors, and a cutting arm. The work primarily focuses on the implementation of a positioning algorithm for the cutting arm, as well as the establishment of a Bluetooth Low Energy (BLE) protocol for communication with the motor control boards. The drivers were developed using STM32CubeIDE for programming the STM32WB5MMG microcontroller, while the positioning algorithm is written in Python to be executed on the NVIDIA Jetson Orin Nano, along with the master’s side of the Bluetooth connection through the Bleak library.