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In an era when new product styles are being introduced with ever-shortening life cycles, the cost of high preparation times for automation equipment every time a new part or product must be produced is becoming prohibitive, both in terms of time and money. In modern flexible industrial production, the capabilities of the machinery to adapt to changing production demands are a key factor for success. Desktop and Scara Robots are universal tools for various industrial applications like dispensing, soldering, screw tightening, pick'n place, welding or marking. This type of robots is suitable for various production line systems (e.g. cell-line, in-line), and can be adapted to meet diverse requirements. They are easy to use, can be applied economically and, nowadays, a complex programming in robot language is unnecessary, thus reducing installation time and providing added convenience. These robots are typically programmed off-line by using waypoints and path information. However, the coordinates and types of waypoints have to be entered manually or taught. Typically, small workpieces with a high complexity of linear paths raise programming efforts. Once a robot has been programmed off-line for a workpiece, the system should be able of identifying it and autonomously initiate the correct working procedure. Further, a semiautomated system has to be capable to autonomously deal with misalignments and compensate small deviations during loading, which may result in a bad execution of the robot off-line stored programs. The concept of sensing for robotics is essential for the design of systems where the real time operation, flexibility and robustness are major design goals. The ability of a system to sense its surroundings and perform the task according to the existing conditions is an effective way to reduce costs and raise flexibility. Highest precision and minimum amount of programming time is the result. Advanced sensor systems are now emerging in different activities which will significantly increase the capabilities of industrial robots and will enlarge their application potential. In this work, sensor data processing concepts on the basis of fuzzy logic are applied, to enable a robot to deal autonomously with typical uncertainties of an industrial working environment. Specifically, it is proposed a flexible, adaptive and low-cost solution to address some problems which often limit the production rate of small industries. Thus, by

Computer Vision and Fuzzy Rules Applied to a Dispensing Application in an Industrial Desktop Robot