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