Abstarct: This thesis presents a nonlinear dynamic interaction control for robot manipulators. the benefit of this method in comparison with conventional impedance control is in reducing computation of control law Which can result to practical implementation, speed of performance and less dependence on robot model meanwhile control purposes in interaction with environment is achieved. in control purposes like commonly used impedance control, if the robot is not in contact with environment, desire tracking of end effector is obtained and in case of contact with the environment no damages can affect robot or environment. moreover the dynamic equation between velocity of end effector and contact force to the environment is regulated arbitrarily. three methods of impedance control, hybrid impedance control and nonlinear dynamic interaction control are compared and stimulated on scara robot. the conventional impedance control approach forms a linear relationship between contact force to the environment and the displacement of end effector but it is not capable of regulating force during interaction. in hybrid impedance control it is possible to regulate force. the nonlinear dynamic interaction method is the generalization of conventional impedance control from linear differential equation to nonlinear differential equation.