This paper presents an assist control method for flexible parts conveyance task using power assist type conveyance system. The assist control method should be designed so as to not only suppress the vibration but also reduce degradation of operating feel. For this purpose, multiple impulse shaped signals are used as feedforward signals in order to reduce the vibration of flexible parts during conveyance.
In addition, adjustment time is introduced to adjust input timing of impulse shaped signal and to suppress vibration. Moreover, in order to improve the degradation of operating feel, the smaller amplitudes of the three impulse shaped signals are used and input repeatedly. The effectiveness of the proposed system was verified experimentally.