Sensor(to measure Force Torque) connected onto robot end effector(gripper) should detect the difference in weight of workpiece, per 100g. Assuming weight of workpiece_A is to be 5kg. The sensor has to detect and sends out a signal when the weight is more than 5.1kg or less than 4.9kg. What is the sensor(measure Force Torque), from A to D in the table below, should you choose if robot's payload is 100kg? Write down the reasons why and process of you choosing. Hint: Robot systems are dynamic systems. Model Rated Fx, Fy Rated Fz Rated Tx, Rated Mz Diameter Allowable overload Accuracy (IN) (+N) Ty (#Nm) (mm) (1%R.C.) (+) (+Nm) a 500 500 10 8 55 300 1/1000 h 1000 1000 30 30 80 150 1/2000 C 1500 3000 100 80 100 200 1/4000 d 5000 10000 500 250 160 300 1/6000 Show transcribed data Model Rated Fx, Fy Rated Fz (EN) Rated Mz (Nm) Diameter (mm) (EN) Allowable overload Accuracy (+%R.C.) (+) Rated Tx Ty (Nm) 10 a 500 55 1/1000 8 30 300 150 b 1000 30 80 1/2000 500 1000 3000 10000 c 100 80 100 200 1500 5000 1/4000 1/6000 d 500 250 160 300