Patent ID: 8840097

Claim:
A production system comprising: a workpiece stocker on which a workpiece is to be placed; a dual-arm robot arranged at a transportation access portion of the workpiece stocker; and a second robot arranged to face a forward portion of a torso of the dual-arm robot, wherein the dual-arm robot includes a first hand and a second hand which are configured to move in different directions from each other relative to the workpiece to hold the workpiece, wherein the first hand is configured to hold the workpiece placed on the workpiece stocker and to pull the workpiece out of the workpiece stocker in accordance with an operation taught in advance, wherein the second hand is configured to move close to the workpiece held by the first hand and to hold the workpiece at a first position different from a position at which the first hand is to hold the workpiece, and wherein a deviation amount between a target held position of the workpiece and the position at which the first hand holds the workpiece is detected based on an actual position of the second hand holding the workpiece at the first position and a position of the second hand taught in advance.