Abstarct: This thesis presents position control of robot manipulators driven by permanent magnet synchronous motors using voltage control strategy. In order to design the controller, the robotic system including the robot manipulators and the electric motors is modeled. The state space model of the robotic system shows that the system is highly nonlinear, heavily coupled, computationally extensive, in non-companion form, and also can be uncertainty. The complexity of model is duo to the robot manipulators dynamic. To overcom the complexity of the robot manipulators dynamics, we use voltage control strategy. Compared to torque control, voltage control is simpler, less computational and more efficient because of not using the robot model. In this control approach, we use a model of the electric motor in replace of a model of the robot manipulator, which is much simpler. As result, the control system is free of the robot model and thus is robust against uncertaintes of the robot model. Then, another control approach is presented which is free from motor model. This controller is a Takagi - Sugeno fuzzy controller that can guarantee stability of the control system. The proposed controllers are simulated on an articulated robot manipulator driven by permanent magnet synchronous motors. The simulation results confirm superiority of the voltage control strategy to torque control strategy. A comparison between proposed control approaches and conventional control namly field oriented control and direct torque control peresents the mentioned advantages.