The recent, development of industrial robots has produced quite powerful and cost-effective manipulators. Some crucial operations, as managing parts with random orientation or realigning pieces, can now be solved with the aid of vision systems connected with the manipulator. Quality control can be partially done during the assembly itself. The solutions we may adopt to integrate manipulation and vision can be various. If we want to make it easy to program the system as a whole, with the same programming language, we should study solutions in which manipulation and vision use high-level languages To this end we will discuss how the choice of the programming language for the application programs is crucial. The hardware and software structures of an operational example of such a system are presented. Examples of programs are given.