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This paper presents an experimental adaptation of a non-collaborative robotarm to collaborate with the environment, as one step towards adapting legacyrobotic machinery to fit in industry 4.0 requirements. A cloud-based internetof things (CIoT) service is employed to connect, supervise and control arobotic arm's motion using the added wireless sensing devices to theenvironment. A programmable automation controller (PAC) unit, connected to therobot arm receives the most recent changes and updates the motion of the robotarm. The experimental results show that the proposed non-expensive service istractable and adaptable to higher level for machine to machine collaboration.The proposed approach in this paper has industrial and educationalapplications. In the proposed approach, the CIoT technology is added as atechnology interface between the sensors to the environment and the roboticarm. The proposed approach is versatile and fits to variety of applications tomeet the flexible requirements of industry 4.0. The proposed approach has beenimplemented in an experiment using MECA 500 robot arm and AMAX 5580programmable automation controller and ultrasonic proximity wireless sensor.

Adapting legacy robotic machinery to industry 4: a ciot experiment version 1