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This paper aims at developing a voltage -based impedance model-reference controller using fuzzy uncertainty estimator for the robust control of electrically driven robot manipulators. The proposed control scheme not only utilizes a desired impedance as a reference model, but also provides the integrated control of position and force in the closed loop system. The robotic system receives the output of model-reference as a desired trajectory and thus the aim of the controller is to reduce thedoi:10.2991/ijcis.11.1.74 fatcat:vojv43rczzdolb7dxeptcxuaqi