Abstarct: In this thesis, the design of model reference robust adaptive impedance control of robot manipulator baxsed on voltage control strategy for adaption the robot’s impedance parameters to the parameters of the desired impedance model in the presence of parametric and non-parametric uncertainties is provided. The dynamical behavior of the robotic system in response to environment is defined as a reference model and the contact force between the robot and the environment is defined as the reference signal or the input signal. The system has two loops; the inner loop is an ordinary feedback loop which composed of the process and the controller and the outer loop that adjust the controller’s parameters is the second feedback loop. The proposed control system is aimed to be robust against the parametric and non-parametric uncertainties such as external disturbance and un-model dynamic. Robot can track the reference model perfectly in the face of this kind of uncertainties. The mechanism for obtaining the adaption laws is obtained by applying lyapunov theory that can guarantee the convergence of the impedance error to zero. The proposed control scheme then has been simulated and compared by both feedback linearization impedance control baxsed on voltage and torque control strategies. An SCARA robot has been utilized for simulation with the consideration that the fourth joint is locked. The simulation results demonstrates a considerable advantage of the proposed method over the control methods.