INDUSTRIAL ROBBOT UNIT HAVING A CURRENT CONTROL FUNCTION FOR A DRIVE MOTOR.
The industrial robot unit includes an input-adding circuit (41) for which are supplied velocity command, velocity feed back, current command and current feed back input. A switching circuit (23) selectively switches the velocity command input, the current command input and the current feed back input according to a switching command signal, and an operational amplifier (38) is supplied with the switched signal. Thus, a position control and a current control are selectively practised according to the switching command from a robot control device (22). The position control enables a held article to be moved to a desired preset position and the current control enables driving motors (Mr,Me, Mz) to be driven at a constant output torque so as to push the held article to another article at a constant torque for insuring safe operation.