The impedance control problem of three-link plane robot is investigated. Firstly, the kinematics and dynamics model of robot is derived. Second, the impedance control model is established. Then, the fuzzy PD joint controller is formatted when the fuzzy theory is introduced into the joint PD controller of robot. The combination of controller and the impedance model is taken into the control of position and contact force of robot by taking into account the environmental constraints. Finally, higher control accuracy of fuzzy PD impedance control than traditional algorithms is proved by the simulation of PDimpedance control and fuzzy PD impedance control.