Abstarct: In this thesis, new control approachs with voltage control strategy and baxsed on model order reduction for robot manipulators are presented. In this regard, the methods of order reduction of dynamic systems are investigated and different algorithms of order reduction, especially with the ability to be implemented on robot manipulators, are introduced. Also, control schemes are presented and simulated using methods such as singular perturbation, port Hamiltonian, model predictive and voltage control strategy. Among the features of the control schemes baxsed on the proposed order reduction, we can mention simplicity in design, fast response and good efficiency. In addition, due to the use of the voltage control strategy, they do not face the challenges of the torque control strategy, such as high calculation volume, not considering the electrical dynamics of the actuators, and implementation problems. This advantage is due to the simple structure of the control laws, the low order of the controllers and the non-dependence on the dynamic of the robot. In order to check the performance of the proposed approachs, the stability analysis of the control systems is performed baxsed on the Lyapunov method, and computer simulation is performed in the problem of regulation and tracking the reference signal by using the original and reduced-order system controllers. Finally, it can be seen that model order reduction in the robot manipulator system with the voltage control strategy, which will lead to the design of a simpler controller with a lower order, has asymtotic stability.