The latest technological innovations, the changes in market conditions and the transformation of factories from digital to intelligent has led to a greater competition between companies. In fact, organizations increasingly show the need to satisfy a large number of consumers, approaching the so-called mass production. In addition, companies aim to reduce costs, improve product quality and create efficient work environments. This has produced the effect of an increasingly frequent introduction in the collaborative environments of factories of robots, that work in close contact with operators, giving them support in daily operations. From here the concept of Smart Factory develops, in which the predominant part is made up of the Cyber-Physical Systems, i.e.