To provide a production system capable of reducing a displacement of a workpiece generated by a transfer operation and improving production efficiency by performing the transfer operation during an assembly operation.
A conveyance robot 4A at an upstream side has a gripping part 42A, a robot arm part 41A, and a force sensor 20A. A conveyance robot 4B at a downstream side includes a gripping part 42B, a robot arm part 41B, and a force sensor 20B. A control device 50B performs the control so that the sum of the force detected by the force sensor 20A and the force sensor 20B is maintained constant during the transfer operation of a workpiece W. Further, the control device 50B performs the control to maintain a state in which the magnitudes of the moment detected by the force sensor 20A and the force sensor 20B are equal. The control device 50B changes the position and the posture of the gripping part 42B so that the force detected by the force sensor 20A gradually approaches 0 while maintaining the state thereof.
Yoshiro Sakamoto
Takashi Daejeon