A method of force adaptive impedance control was proposed based on time-delay for the force control problem in the interaction working mode between the robot end and the complex environment.The mathematical model of adaptive impedance control was established,the impedance characteristics in variable stiffness and variable position modes were analyzed,and the convergence of adaptive impedance control was proved.The complex environment adaptive force control diagram for a single-arm robot and a handling internal force control diagram for a dual-arm robot in master-slave control mode corresponding to different stiffness objects were designed.Through Simulink and ADAMS joint simulation,the results show that the adaptive impedance model has good tracking effect on constant force,slope force and sinusoidal force for the single-arm robot with variable position and variable stiffness working conditions.The dual-arm master-slave control mode can be used to control the collaborative internal forces well for objects with different stiffnesses.