Since these days several research and projects have been done, some of them in DISAM of the UPM where we worked several years ago. One of the first industrial implementation of robotics was the SIRO project (1984) for the aeronautical company CASA (now EADS) for inspection of carbon fibber parts of the Airbus aircrafts. The system, with some modifications, works up today. Other developments were robotics picking in a tobacco warehouse (BUBI, 1986) and automatic pre-fab manufacturing for construction industry (GRC-Auto, 1992). In 1989 we started the research activities in first stages of the European Union projects. The Robotics Lab members are pioneers in the European Union R&D projects in the field of robotics. During earlier 90s several EU project were developed: Esprit II project PANORAMA (Perception and Navigation Systems for Mobile Applications), and Eureka projects SAMCA (Flexible shoe factory), AMR (Advanced Mobile Robot for Public Safety) and GEO (Big Range Robotized System). In 1992 the Esprit III project ROCCO (Robot Assembly System for Computer Integrated Construction) was started. More basic research projects also started at the beginning of 80s. Several projects funded by Spanish R&D governmental and private agencies were: FMS/2 (Flexible Manufacturing Systems, 1982), first FMS prototype system developed in Spain; VAD-1 (1983), our first mobile robot (it had one ultrasound sensor!); DISAM E-65 DISAM E-65 (Scara type robot, 1984), first industrial prototype of the robot; and Coco (Coordinated multirobot system, 1989), two arms robotic system with force/torque control. These projects permitted us to obtain fundamental knowledge in robotics.