In order to solve the control problems of track position and contact force caused by nonlinear uncertain system of manipulator,load change and inaccurate measurement of force sensor, an adaptive fuzzy control method of backstepping was studied. Improved force compensation and adaptive control law were introduced into the target impedance control model, Lyapunov function was used to prove the stability of the control system.And the fuzzy control system was designed to complete self-tuning of target impedance parameters by using fuzzy theory,and force/bit control without relying on information model was realized.A simplified two DOF manipulator model was used to complete the simulation experiment.The experimental results show that the control method has good force/bit control performance and system robustness.