The work situation of robots transitioning from free space to contact space often encounters issues, such as insufficient control precision and lack of flexibility. To address these issues, an optimized impedance parameter algorithm, utilizing an enhanced particle swarm optimization technique, is introduced. This method circumvents the impedance parameter conflict resulting from global and local searches during the optimization process. Furthermore, an adaptive impedance control strategy is formulated, incorporating novel fuzzy rules for the adaptive term’s update rate, enabling dynamic impedance parameter adjustments. Simulation results on a two-degree-of-freedom robotic joint demonstrate that the proposed impedance control approach ensures swift system response while precisely regulating the contact force of the end-effector. This approach significantly reduces contact force overshoot to 3.156% and minimizes oscillation frequency, enhancing system stability and control accuracy.