The purpose of this paper is to eliminate the manual control for pick and place system. The robot arm is designed with three joints, two links and three Dc motors. Arduino microcontroller is used to generate the required angular position of the robot joints. In this research, the link length of the robot arm is calculated to enable carrying the desire object weight. The position of the robot arm end effector is calculated with kinematic modeling method which include forward and inverse kinematic. Robotic tool box is used to task the position of the robot arm using forward and inverse kinematic. PID control method is used for accurate position of the end effector. In this research the gain of the PID controller is tuned by using the Ziegler-Nichol method. In this research, Output position of the robot arm are shown in MATLAB simulation. Forward and inverse kinematics result also are shown in MATLAB GUI.