Most arm robot has an inefficient operating time because it requires operator to input destination coordinates. Besides,main problem of arm robot is objects vulnerability when it is manipulated by the robot. This research goals is to develop anarm robot control system which has ability to automatically detect object using image processing in order to reduce operatingtime. It is also able to control gripping force for eliminating damage to objects caused by robot gripper. This research isimplemented in LabVIEW 2011 software to control arm robot model which can represent industrial scale robot. The software isdesigned with informative visualization to help user learn and understand robotic control concept deeply. The system canautomatically detect object position based on pattern recognition method which has four steps: pre-processing process toinitialize picture taken by camera, segmentation process for separating object from the background, classification process todetermine characteristics of object, and position estimation process to estimate object position in the picture. The objects position data are then calculated by using kinematic equation to control the robots motion. The results show that the systemis able to detect object and move the robot automatically with accuracy rate in x-axis is 95.578 % and in y-axis is 92.878 %. The system also implements modified PI control method with FSR as input to control gripping force with maximum overshootvalue smaller than 10 %. Arm robot model control system developed is successfully meet the expectation. The system control can beimplemented to industrial scale arm robot with several modification because of kinematic similarity between model andindustrial scale robot