| 摘要 |
PCT No. PCT/JP81/00237 Sec. 371 Date May 13, 1982 Sec. 102(e) Date May 13, 1982 PCT Filed Sep. 18, 1981 PCT Pub. No. WO82/01090 PCT Pub. Date Apr. 1, 1982.Disclosed is an industrial robot having a function for controlling a current of a motor for driving, which comprises a circuit (41) for summing a plurality of input signals to which input signals of speed command, speed feedback, current command and current feedback are supplied, a switching circuit (23) for selectively switching the input of speed command to the inputs of current command and current feedback by a switching command signal and an operational amplifier (38) to which the switched signal is supplied. In this industrial robot, the position control is switched over to the current control by a switching command signal from a robot control device (22), and by the position control, an article to be held is shifted to a predetermined position and by the current control, driving electric motors (Mr, M theta , Mz) are operated under a certain output torque to press the article to be held against other article under a certain torque, whereby the reliability of the operation of the industrial robot can be increased.
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