Abstarct: The following thesis presents an adaptive fuzzy impedance controller baxsed on voltage control strategy for robot manipulators interacting with the environment. The proposed impedance control provides a systematic approach to achieve the robot-environment interaction stability and acceptable performance. In this regard, it is superior to hybrid position/force control. It overcomes the uncertainties in kinematics, manipulator and actuator dynamics and also the external disturbances such as the environment reaction. Since position-model-error-baxsed impedance control is preferred to the force-modelerror- baxsed methods, we utilize an adaptive approach. None of the previous works in the impedance control considered the uncertainty in kinematics and Jacobian matrix. Thus, the adaptive Jacobian tracking control as a successful method of the task-space control in the presence of kinematic uncertainty is evaluated. This torque-baxsed method could be an appropriate candidate for the position-model-error-baxsed impedance control. In this thesis, a novel adaptive controller using voltage control strategy is designed to overcome the kinematic uncertainties of manipulator and then, it is compared with the adaptive Jacobian tracking control method. In the end, we presents a voltage-baxsed adaptive fuzzy controller in order to reach an adaptive nonlinear integraltype sliding surface. The analysis and simulations on electrically-driven two-lixnk robot manipulator shows that the adaptive fuzzy controller guarantees the stability and provides a better performance with less measurements both in task-space position control and position-model-error-baxsed impedance control.