There is a large load disturbance in the operation process of the iron roughneck,and it is necessary to realize force control under specific working conditions,and the control accuracy does not meet the expected requirements,which can easily cause damage to the pipeline.The impedance control method was used to control the movement of iron roughneck,and the displacement and force tracking of the hydraulic cylinder were simulated.The motion sketch of iron roughneck mechanism was established,and the equations of positive and negative kinematics were obtained by analytical method.In order to improve the flexibility of the trajectory,the motion trajectory of iron roughneck was planned by the method of fifth degree polynomial interpolation.The impedance control method was designed,the position control of inner loop was realized by the PID controller and the force was controlled by the outer loop.The dynamics model,hydraulic system model and impedance control model of iron roughneck were established by AMESim and Simulink respectively,and the operation process of iron roughneck was simulated by joint simulation.The results show that the iron roughneck has good position control accuracy in both non-environmental and environmental contact conditions,and the force tracking accuracy is increased by 42.4% compared with no impedance controller.