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.

中文翻译：

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使传统的机器人机械适应行业4：试用实验版本1

本文提出了一种非协作机器人手臂与环境协作的实验性适应方案，这是使传统机器人机械适应行业4.0要求的第一步。利用基于云的物联网（CIoT）服务，使用添加到环境中的无线传感设备来连接，监督和控制机械手的动作。连接到机械手的可编程自动化控制器（PAC）单元接收最新的更改并更新机械手的运动。实验结果表明，所提出的非昂贵服务是易于处理的，并且可以适应更高级别的机器对机器协作。本文提出的方法具有工业和教育应用。在建议的方法中，CIoT技术被添加为环境传感器和机械臂之间的技术接口。所提出的方法是通用的，适合各种应用，以满足工业4.0的灵活要求。拟议的方法已在使用MECA 500机械臂，AMAX 5580可编程自动化控制器和超声接近无线传感器的实验中实现。