A workspace modelling technique, that achieves real-time detection of closeness of robot to workspace object, has been developed by additional physics attribute attachment to workspace. Physics phenomena suiting the realistic work conditions have been identified and a computational model for emulating the phenomenon has been developed. Need for building sensitivity to dynamics in the model has also been addressed. Model building and algorithms for embedding the model in workspace comprising complex object shapes have been studied in detail. Applications like fast execution in real-time scenarios, design of data structure for realistic implementation and the problem of attaining functionality without new sensor addition to telerobots working in radioactive environment are addressed.