Abstarct: This thesis discusses about the designing of the Optimal Force-Impedance Controller in SCARA Robot arm with the aim of cell injection using Voltage Control Strategy. In the cell injection system, the Injector via fine needle, injects the materials into the cells. This thesis proposes employing SCARA Robot with injection tool and includes ability for desired tracking and also applying of time-varying force. In recent articles the control injects to the rotating plate of Cells and therefore causes the damaging risk for cells. The purpose of this thesis is the system is fixed plate and to improve the success full, the robot is controlled. This thesis describes the impedance model of the robot baxsed on Thevenin method and the parameters of environmental models are estimated via nonlinear proposed models and by using the recursive method, the minimum of squares errors will be optimal. In all recent studies of cell injection systems, the impedance control are baxsed on torque control method and the purpose of this article is applying the impedance control using voltage control strategy. According to the nonlinear and also multivariate model of robot, to overcome uncertainty subjects the Robust and adaptive controller methods are proposed and because of to be free of robot model, the designing of phase controllers are more efficient. In the proposed method, the stability of the control system is guaranteed and it will be shown. To solve the problem of how to select the coefficients of impedance model to implementation the optimal force in to the tested cells, a fuzzy system included adaptive system is designed. These systems consecutively estimate the parameters for the impedance robot model and also the environmental models. Results of the simulation demonstrate the desired performance of the proposed method.