When compared with the human arm, the low performances of robotic manipulators motivated the development of new mechanical structures. Joint-driven manipulators, with standard actuators, are not well adapted to the transients imposed by the robotic applications. The kinematic analysis of these systems highlights its main properties and constitutes a step towards the design of new mechanical biological-like robotic structures adopting linear actuators replacing the standard rotational joint-driving motor systems. PID tracking control of the arm was studied by implementing the biomechanical model of the forearm and hand. This model emphasizes the role of the visco-elastic properties of the musculo-skeletal system of the actual limb in controlling its net configuration and movement.