Muhamad Arfauz A Rahman, Nor Suriyanti Osman, Chew Heng Boon, Gordon Ling Teck Poh, Azrul Azwan Abdul Rahman, Bashir Mohamad Bali Mohamad, Silah Hayati Kamsani, Effendi Mohamad, Zainul Azereen Zaini, Mohd Fairuz Ab Rahman


This paper presents a proposed framework for determining workspace and safe working area of industrial robot. The focus of this work is on providing a fast and easy configuration approach for safe robot working area. In order to design and develop the proposed Framework for the Robotic Work Cell Configuration (FraRWCC), a research and case study on industrial robot and its specification were carried out and described briefly in this paper. A study on a computer program and CAD software has been conducted to enhance a knowledge and information used in this project. Solid Work software is used to create 3D robot workspace while Microsoft Visual Basic. Net is chosen to program a set of object-oriented programming for creating a completed user interface. User may interact with the developed user interface to determine robot workspace and safe working area. By using this computer program, it may reduce the time for installing the industrial robot and potentially avoids any accident during the robot operation.

Full Text:



IFR Press Release - IFR International Federation of Robotics [Online]. Available: [Accessed: 09-Dec-2015].

R. Neal, “NGM — Next Generation Manufacturing, A Framework for Action (USA Project),” in Ent. Eng. Int., Berlin, Springer Berlin Heidelberg, pp. 307–315, 1997.

M. H. Ross. “Automated manufacturing—Why is it taking so long?,” Long Range Plann., vol. 14, no. 3, pp. 28–35, Jun. 1981.

H. Bojinov, A. Casal, and T. Hogg, “Multiagent control of self-reconfigurable robots,” Artif. Intell., 2002.

Y. Koren, The Global Manufacturing Revolution: Product-Process-Business Integration. John Wiley & Sons, 2010.

M. A. A. Rahman and J. P. T. Mo, “Development of Graphical User Interface for Reconfiguration of Manufacturing Automation System,” in Proceeding of International Conference on Mechanical, Industrial, and Manufacturing Engineering (MIME)., RMIT University., Australia, vol. 2, no. 1, pp. 53–59, 2011.

M. A. A. Rahman and J. P. T. Mo, “Design Methodology for Manufacturing Automation System Reconfiguration,” in ASME 2010 International Mechanical Engineering Congress and Exposition., British Columbia., Canada, vol. 3, pp. 429–438, 2010.

M. A. A. Rahman and J. P. T. Mo, “Configuration Model for Automating Work System Design,” Am. J. Ind. Bus. Manag., vol. 02, no. 04, pp. 116–127, 2012.

M. A. A. Rahman and J. P. T. Mo, “Development of Theoretical Reconfiguration Structure for Manufacturing Automation Systems,” Int. J. Ag. Syst. Manag., vol. 5, no. 2, pp. 132–150, 2012.

Y. Koren and M. Shpitalni, “Design of Reconfigurable Manufacturing Systems,” J. Manuf. Syst., vol. 29, no. 4, pp. 130–141, Oct. 2010.

M. Bashir. “Occupational Safety in Robotized Work Environments,” in Proceeding of the 5th National Conference on Occupational Safety and Health, PWTC, K. Lumpur, 25-26 June 2002.

M. Rahimi and W. Karwowski, Human-robot Interaction. Taylor & Francis, 1992.

A. A. and S. M. S. A. H. Rizvi, B. Mohamad, and F. H. Nagi. “Ergonomics of the Robotised Work Environment with Special Reference to The Safety Standards,” in Proceeding of the 6th National Conference and Exhibition on Occupational Safety and Health, Sunway Pyramid Convention & Exhibition Centre, K. Lumpur, 14-15 July 2003.

C. R. Asfahl, Robots and Manufacturing Automation. Wiley, 1992.

J. A. Rehg, Introduction to Robotics in CIM Systems. Prentice Hall, 2003.

C. H. Boon. “Determination Of 3-Dimensioanl Robot Workspace And Safe Working Area Using Computer Software,” B. thesis, Dept. Manufacturing Engineering, UTeM, Melaka,Malaysia, 2008.

G. Bolmsjo. “Reconfigurable and Flexible Industrial Robot Systems,” Adv. Robot. Autom., vol. 03, no. 01, pp. 1–5, 2014.

FANUC ArcMate 100i / Arc Mate 100i RJ3 [Online]. Available:

Y. Koren and M. Shpitalni, “Design of Reconfigurable Manufacturing Systems,” J. Manuf. Syst., vol. 29, no. 4, pp. 130–141, 2010.

M. A. A. Rahman. “Improvement of Safety System Installation for Industrial Robot Work Cell,” M.S. thesis, Dept. Mechanical Engineering, Universiti Tenaga Nasional, Malaysia, 2005.

© Journal of Advanced Manufacturing Technology