Abstract: A fruit picking apparatus for picking fruit from a tree configured for use in combination with a mobile chassis comprising a base rotatably mounted on the mobile chassis, a first boom assembly pivotally coupled to the base, a second boom assembly movably coupled to the first boom assembly and a picker assembly attached to the outer portion of the second boom assembly wherein the first boom assembly includes a first positioning device to pivot the first boom assembly relative to the base and a second positioning device to move the second boom assembly longitudinally relative to the first boom assembly and wherein the second boom assembly includes a first positioning device to pivot the second boom assembly relative to the first boom assembly and a second positioning device to pivotally adjust the picker assembly relative to the second boom assembly.