This paper considers the integration and application of a Cyber-Physical System (CPS) and a digital twin to control a three-degree-of-freedom (3DoF) robotic manipulator. Here, framed in Industry 4.0, we consider robots as interconnected components within a broader network. Supported by current literature, we contribute to advancing interlinked systems that mirror the physical dynamics of equipment and facilitate their remote visualization-a cornerstone in the architecture of Internet of Things (IoT) robotics. Our strategy is rooted in three core stages: modeling, simulation, and implementation, and aims to seamlessly integrate the constituent elements of a robotic agent within an Internet of Robotic Things (IoRT) environment. At this nascent stage, the system has undergone testing at the prototype level, with ambitions to scale it for deployment in industrial settings. Preliminary results demonstrate the efficacy of the system in simulating and controlling the robotic manipulator, highlighting the potential of this integrated approach in practical applications. Our findings are pivotal to these concepts' evolution and roll-out, bolstering understanding of the nexus between CPS, digital twins, and robotics within Industry 4.0.