solve the following problem:

You have a robotic arm with four degrees of freedom (joints), which performs atropomorphic movements.

It is desired to make a control scheme for said system, which allows the robotic manipulator to move in a predetermined trajectory.

Design a control system to manipulate the robot, taking into account the following:

1. Each joint moves thanks to a servomotor (cc motor)

2. The path will be defined by the user

3. Take into account that the servomotor needs to know where to stop its movement, this means some kind of position sensor.

4. A controller (PLC) is needed to command the joints and sinus reading.

On a legible sheet of paper, detail the following:

1. Block diagram of the proposed control system.

2. Transfer functions of each block.

3. Servomechanism response

4. Control logic to implement (P, PI, or PID), with their respective parameters.