A cherry-harvesting robot was manufactured for trial purposes and basic experiments were conducted. The main parts of the robot are a manipulator 4 degrees of freedom (DOF), a 3-D vision sensor, an end effector, a computer, and a traveling device. The 3-D vision sensor was equipped with red and infrared laser diodes. Both laser beams scan the object simultaneously. By processing the images from the 3-D vision sensor, the locations of the fruits and obstacles were recognized, and the trajectory of the end effector was determined. Fruits were picked by the end effector, while avoiding collisions with obstacles.