This paper presents a human-robot collaboration (HRC) system which balance human workload and system productivity by using time pressure. To adjust time pressure using a real robot, we introduce a task scheduler that determines the intervention timing considering the movement limitation of the system and an interaction system using perception modality according to the work content. Our system was evaluated through a subjective experiment. In the experiment, workload and productivity were estimated using a physiological signal such as pupil diameter, subjective evaluation, and operation time. Based on the results of the experiment, we investigated the relation between workload and efficacy under the conditions of several time pressures. The result shows that the proposed HRC system can control time pressure, which can affect human workload and productivity.