Sticker affixing system, method to be executed by sticker affixing system, and non-transitory computer-readable medium storing program to be executed by sticker affixing system

A method for controlling a sticker affixing system,

• the sticker affixing system including:
• an articulated robot;
• a controller configured to control the articulated robot;
• a suction tool attached to a distal end of the articulated robot;
• a force sensor configured to detect force applied to the suction tool;
• and
• a storage configured to store teaching data of the articulated robot,
• the method comprising:
• bringing the suction tool close to a sticker on a release paper in a teaching mode;
• adjusting a suction position of the suction tool and an inclination in a traveling direction (roll axis) of the suction tool in peeling off the sticker based on a signal from the force sensor;
• and
• storing the teaching data including information about the adjusted suction position and the inclination on the roll axis in the storage.

A non-transitory computer-readable medium storing a program for controlling a sticker affixing system,

• the sticker affixing system including:
• an articulated robot;
• a controller configured to control the articulated robot;
• a suction tool attached to a distal end of the articulated robot;
• a force sensor configured to detect force applied to the suction tool;
• and
• a storage configured to store teaching data of the articulated robot,
• the program causing the sticker affixing system to execute:
• bringing the suction tool close to a sticker on a release paper in a teaching mode;
• adjusting a suction position of the suction tool and an inclination in a traveling direction (roll axis) of the suction tool in peeling off the sticker based on the signal from the force sensor;
• and
• storing the teaching data including information about the adjusted suction position and the inclination of the roll axis in the storage.