In this paper, a service-oriented multiagent system (SoMAS) for the control and analysis of the cyber-physical system (CPS) in manufacturing automation utilizing a noncontact dynamic obstacle avoidance seven-DoF robot arm is presented. The interfaces of the services which the robot arm subsystem should provide to fully exploit its capability are identified. Specifically, the services of moving, object recognition, object fetching, and safety of human-robot interaction are considered as the fundamental functionalities that the robot arm should provide. The way to evaluate the quality of services (QoS) for the robot arm subsystem is also explained. To build such a robot arm subsystem, the system architecture is proposed. Also, implementation for the subsystem which includes: 3-D model-based object recognition, grasp database for object fetching, and online noncontact obstacle avoidance for the safety of human-robot interaction is provided. The experimental results demonstrate that the capability of 3-D model-based object recognition, object fetching, and dynamic collision avoidance are successfully implemented.