Abstarct: This paper presents a robust hybrid impedance controller for electrically driven robot manipulators. The contribution of this article is overcoming uncertainties including manipulator, actuator and interaction dynamics applying the following hierarchical approach. The control law is designed baxsed on the voltage control strategy (VCS) which compensates the manipulator dynamics effectively. Uncertainties related to the actuator models are estimated by adaptive fuzzy systems, and a variable structure model reaching control (VSMRC) in the sliding mode copes with the unknown dynamics of the interaction between manipulator and environment so that the desired impedance model is governed. Moreover, a PI control structure is employed to attenuate chattering phenomenon. Also, the uncertainty upper bound which is a challenging problem in most robust algorithms is not required in this work. A stability analysis is presented to drive the adaptation laws and guarantee the boundedness of all state variables. In contrast with previous approaches, this controller is more robust and less computational. Simulation results reveal the effectiveness of the proposed method applied on a SCARA robot driven by permanent magnet dc motors.