The document discusses the basic components of control systems including sensors, controllers, actuators, and feedback loops. It also covers different types of control systems such as open loop and closed loop systems. Finally, it describes different classifications of robots including industrial, medical, space, and domestic robots providing examples of robots in each category.

1. Jamshedul Islam
B.Sc in Textile Engineering (Final Year)
Port City International University, Chittagong, Bangladesh.

2. The Basic Components of A Control System with Proper Examples
The basic components of a control system depend on the type of control system. A flow chart of the control system is given
for observation as below.
Calculates the input materials
Gives the signal as commands
of the control section
Gives the desired output,
with observing disturbances
Gives the signal from actuator
to resolves for getting
expected output
Figure (a): Basic components of a control system

3. In human body, Brain acts as a controller which maintain all the activities of a human by sensing, if a person wants to take up a pen from table
pen bin at that time the brain get the signal first then command the signal in order to hand (muscle) will move this signal gets through the
amplifier which is gives to the signal into the actuator thereafter the pen is taking up as well as gives the expected output while eyes are acts as
feedback elements and give the signal of error position of hand into the brain and so on.
The Step by Step Process of Control System Analysis and Design
The control system analysis and design is illustrated in figure (b). The design process consists of main four categories with their sub-categories.
Establishing the
System Goals
•Set the control goals
•Identify the variables to be controlled
•Write the specifications
System Definition
and Modelling •Establish the system configuration
•Obtain a model of the process, the actuator, and the sensor
Control System
Design, Simulation
and Analysis
•Describe a controller and select key parameters to be adjusted
•Optimise the parameters and analyse the performance
Implementation •Refine and deploy

4. Establishing the System Goals:
For example, we may consider that our goal is to control the velocity of a motor accurately. The second step is to identify the variables that we
desire to control (for example, the velocity of the motor). The third step is to write the specifications in terms of the accuracy we must attain.
This required accuracy of control will then lead to the identification of a sensor to measure the controlled variable. The performance
specifications will describe how the closed-loop system should perform.
System Definition and Modeling:
Then we set the system configuration to achieve the desired output in addition to a model with control elements e.g. a sensor, an actuator and a
controller as shown in figure (c). For example, if we wish to control the speed of a rotating flywheel, we will select a motor as the actuator. The
sensor, in this case, must be capable of accurately measuring the speed. Here we get a model for each of these elements.
Controller Actuator Process
Desired output
response
Actual output
Sensor
FeedbackMeasurement output
Fig (c): Diagram of Closed loop Feedback Control System

5. Control System Design, Simulation, and Analysis:
The next step is the selection of a controller, which often consists of a summing amplifier that will compare
the desired response and the actual response and then forward this error-measurement signal to an amplifier.
The final step in the design process is the adjustment of the parameters of the system to achieve the desired
performance.
Implementation:
If we can achieve the desired performance by adjusting the parameters, we will finalize the design and
proceed to document the results. If not, we will need to establish an improved system configuration and
perhaps select an enhanced actuator and sensor. Then we will repeat the design steps until we are able to
meet the specifications, or until we decide the specifications are too demanding and should be relaxed.

6. The open loop and closed loop control systems with proper block diagrams
Open Loop Control System:
Any physical system which does not automatically correct for variation in its output, is called an open-loop system.
Sun/Weather
Solar Cell
Plant
Solar Energy Control Signal Electricity
Input Controller
Plant Output
Fig: Representation Diagram of Open loop Control
System

7. In this control system,
 We get electricity by conversion of sunlight, where the sunlight is controlled by the sun that means it is depends on the weather.
 When the sunlight is fall over the solar cell plant that means signal is reach over here then get output that is electricity.
 In this system, have not any feedback or error signal that’s why implementation feature is not available.
 Here the power of electricity is depends on the amount of solar power that means output variation is depending upon on the weather of
the earth which is independent.
Closed Loop Control System:
Control system in which the output has an effect on the input quantity in such a manner that the input quantity will adjust itself based on the
output generated is called closed loop control system. Open loop control system can be converted in to closed loop control system by providing a
feedback. This feedback automatically makes the suitable changes in the output due to external disturbance.
Controller Actuator Plant
Input Output
Operator Pumper Football
Default
Position
Actual
Position
Measurement Sensor
Feedback loop
Fig: Example Diagram of Closed loop Control System

8. In this control system,
 Here desired output is actual shape of the football which is controlled by operator. Due to disturbance we can’t get actual position after
actuating at that time found out output is give a feedback signal into feedback device or sensor.
 Then the feedback signal (positive or negative) is passed into error signal section, after that operator controlled that, to get desired result.
 By this feedback process controller has adjusted unless get required output through this implementation process which known as closed
loop control system.
 Finally, we understand that in this control system is not dependent on input to get the desired output because of the feedback loop
mechanism.
The Robot Accessories
Robot accessories are basically refers to robot components, here we discuss about with robot components. There are many components are exist
in a robot which are depends on types of robot. In this explanation, basically we explain about the industrial robot components or parts which are
the main accessories of the robot.
Sensors
Controllers
Actuators
End Effectors
Arms

9. Sensor:
Sensor is a device which is conduct information in robot to environment and vice versa, it is basically acts as a communicator which is help to
communicate with the environment by using the external sensory device i.e. light sensor, contact sensor, sound sensor and temperature sensor
and so on.
Controller:
Controller is a device which is mainly controlled of a robot motions, it has connected with computer while it has receives data from computer
then its work as per command as well as controls of the actuator motions and coordinates these motions with feedback process.
Actuator:
An actuator is a device which is converts energy into physical motion, in this case, robots consists of electrical energy. While the actuator get the
control signal from controller then it has accomplish that.
Actuators are the muscles of robots. It is used in order to produce mechanical movement in robots. Hydraulic actuators and Pneumatic actuators
are examples of robots actuators.
End Effector:
End effector is a mechanical device that is basically placed on the end part of the robotic arm that interfaces with the environment it is known as
end effector. It performs with the help of gripper or some tools.
Arms:
Arms is the main body of a robot which is assembled by several robotic arms, it is acts similar to human arms to perform at specific tasks. It has
various tool attachments at end of the arm like grippers, welding, spray equipment and so on.

10. The classification of robots with proper examples
Robot can be classified into various types in different categories. As per application, we are discussed about classification of
robots as following figure.
Classificationofrobotsasper
application Non-industrial or
special purpose
Medical
Space
Defence Robots
Security
Domestic
Entertainment
Industrial
Figure: Classification of robot as per application

11. Industrial:
Industrial robots are basically fixed operators which accomplish in diverged work place. These are generally used for some
specific tasks which are generally tough and risky for human, such as firing, dirty and repetitive tasks as well as they can
perform in dangerous situation.
Non-industrial or special purpose:
These robots are generally performs to assist humans in their work as well as few risky action.
Medical:
In medical, robotic use is increasing day by day which are used for as research assistant, surgeon assistant with the surgeon
and various experimental purposes.
Space:
The prosperity of robotics nowadays space travel is become quite easier. In this case, robots are significantly used to
experimental and assist purpose, over the space some impossible tasks for human conduct by robot. Char and Tar these two
robots are quite known in this space regard.
Defence Robots:
World developed countries are mostly used robotics technology in their defence sector to bomb disposable purpose, to
dangerous issues. Drones is another important robot equipment used in defence sector, robots are mostly used in risky and
hazardous situations which quite impossible for a soldiers.

12. Security:
These robots are used for surveillance and guarding large civilian facilities such as Power generating plants, oil refineries
etc. which are under threat from terrorists. An example is DRDO’s NETRA (An Unmanned Aerial Vehicle).
Domestic:
These robots are used as helping hand at home, which assist in household cleaning purpose nowadays these robots are
abundantly used in the world. These are able to replace our home servant position.
Entertainment:
These robots are most-liked of our children they play with these robots as well as provide a couple of services at our home.
Besides, these robots are visible in parks and sports zone in case of entertainment purposes. In market various robot toys are
available i.e. pets and dog etc.