Abstract:With the development of manufacturing,robot polishing, assembling and other contact with the environment of the processing tasks accounted for the proportion oflarger and larger, contact force control with the environment of robot has become a new demand.The traditional impedance control strategy needs to accurately know the environmental stiffness, which is limited a lot in the specific application.Six dimensional(6D) force sensoris based on to propose an adaptive impedance control method. This adaptive impedance control method was not in need to know the environmental stiffness, according to the model error variance between robot and environment contact force to automatically adjust the parameters of impedance controller by fuzzy control, so as to keep the robot and the environment with the desired contact force.Finally through the robot and environment exposure experiments,the algorithm is verified to have good force control effect.