Hi there,
This is Bogdan from Romania.
I'm a mechanical engineer specialized in the industrial robotic (really!), 3D designer and modeler.
I could help you with this project, but there are few issues to clarify.
First at all is the price for the project - we will discuss in chat.
Second - your robotic arm:
In order to make the right chooses you need to define properly the architecture of the system, starting with dimensions, payloads, degree of freedom (DOFs), allowed movements, etc.
Only after this step, you could picking the components.
Indeed, the encoders will helps you to replicate a "pick and place" manipulator capable to retain the working points/curves, but you will also need a PLC which to store the positions of each DOF at a certain moment.
Another issue is the structure - if you want a robust manipulator, you will need the structure to be sturdy and well designed.
If you want to discuss more, pls open a chat room here and we'll talk about the details of your project.
Regards
Bogdan