In this article, a method of feedback data acquisition and target recognition using Kinect sensor is proposed, in order to perform position tracking and control of Robolink® articulated arm. Robolink is a lightweight flexible joint robotic manipulator, the rotational joints of which are driven by step motors through Dyneema wires. The goal of the presented experimental work was to investigate the possibility to use Robolink in fruit picking systems and other similar works. At an early stage, Lidar sensors were also used for Robolink indoor behavior experimentation. Feedback data management and control law, based on the kinematics of this lightweight flexible robotic arm are also analyzed and presented from the efficiency point of view.