In order to realize the predictive torque control of permanent magnet synchronous motor (PMSM) for the industrial robot rotator and to avoid using the weighting factor, a simple sequential model predictive torque control method was proposed. By using the method, 2 voltage vectors that minimized the torque control error were selected of the 8 voltage vectors of the inverter,then a voltage vector that minimized flux linkage control error was selected as the optimal one from the 2 voltage vectors. The vector was applied to the inverter to realize the predictive torque control without weighting factor of PMSM. By using the proposed method, not only the design of the weight coefficient is avoided, but also the control precision of torque and flux linkage is improved.The simulation and experimental results verify the effectiveness of the proposed method