Industrial robots are always requested to realize a fast position control and keep a robot safety on external force. In order to realize a fast position control, we have already proposed both the dynamic internal torque compensation of its motion reference and the robust continuous path tracking control with vibration suppression control. For the purpose of keeping the robot safety on external force, it is important to detect the external force which is separated from the dynamic internal torque on its motion control. Hence, this paper proposes a new fast position control considering robot safety based on dual dynamic torque compensation for industrial robots. The proposed control system realizes both the robust fast position control of its motion reference and the impedance control for robot safety. The paper applies the proposed method to the motion control of tested industrial robot manipulator and confirms the validity by the numerical simulation and experimental results.