I. Introduction
A fundamental topic in robotics is represented by the possibility of making easier the definition of the robot task, as well as more efficient its accomplishment, by taking into account information which may be captured by additional sensors mounted on the system or in the workspace. In the case of robotic manipulators, a typical task which can be made less critical from the definition point of view is the manufacturing in the vicinity of objects or with interaction with these latter [1]. The possible approaches to accomplish this task depend on the features of the sensors which are employed to acquire information from the environment and the obstacles near the robot [2]–[4].