The aim of this article is to illustrate how to design the feedback law of a driftless non-static feedback linearizable system. For that, the required mathematical background needed in order to achieve this goal has been studied and as an example of such a system a robotic arm has been considered. The equations describing the robotic arm model, which is composed by three links, are explained in the paper and the necessary steps to make the final design are detailed too. To conclude, calculations and a few simulations in Matlab have been implemented in order to see if the initial and final conditions introduced are met 2019/2020