Based on the technology of the impedance control, a multi-joint robot adaptive impedance control algorithm has been proposed for the control study on the end contact force of the side window glass installation robots on EMU. The proposed algorithm can realize the accurate tracking of the end contact force of the robots. A simulation research has been carried out on the three front joints of the PUMA560 robots in the contact space. The simulation results show that the adaptive impedance control method can efficiently track the position and force of the side window glass installation robots on EMU.