Abstarct: In this thesis, a new passivity-baxsed voltage control of robotic manipulators is proposed. The controller design is presented in two categories of voltage control strategy and method dependents on the robot model with output strictly passivity property. Also, the voltage control strategy method is designed in two cases of general passivity and output strictly passive case. In this design, the feedback passivation method is used in which the initial system is converted to a passive system by a feedback law and then the controller design is performed. Next, with the help of passivity-baxsed control theory, the sliding mode method is proposed for nonlinear systems with unmatched uncertainties. In other words, the theory of passivity is used to design the sliding surface. With the help of the proposed method, desired path tracking of the robot joints is also achieved. In all stages of design, the proof of stability is done using Lyapunov method and the efficiency of the proposed methods is demonstrated by simulation.