  More and more, new ways of interaction between humans and robots are desired,
something that allow us to program a robot in an intuitive way, quickly and
with a high-level of abstraction from the robot language. In this paper is
presented a CAD-based system that allows users with basic skills in CAD and
without skills in robot programming to generate robot programs from a CAD model
of a robotic cell. When the CAD model reproduces exactly the real scenario, the
system presents a satisfactory performance. On the contrary, when the CAD model
does not reproduce exactly the real scenario or the calibration process is
poorly done, we are dealing with uncertain (unstructured environment). In order
to minimize or eliminate the previously mentioned problems, it was introduced
sensory feedback (force and torque sensing) in the robotic framework. By
controlling the end-effector pose and specifying its relationship to the
interaction/contact forces, robot programmers can ensure that the robot
maneuvers in an unstructured environment, damping possible impacts and also
increasing the tolerance to positioning errors from the calibration process.
Fuzzy-PI reasoning was used as a force control technique. The effectiveness of
the proposed approach was evaluated in a series of experiments.
