In　the　field　of　force　and　position　control　for　robots,　impedance　control　is　prevalently　employed.　However,　in　complex　dynamic　environments　such　as　cleaning　and　grinding,　constant　impedance　control　has　a　large　tracking　error　and　may　even　damage　the　robot＇s　end　tool.　In　order　to　solve　these　problems,　an　adaptive　variable　impedance　control　method　is　presented　based　on　a　nonlinear　tracking　differentiator　in　this　paper.　Specifically,　we　design　the　adaptive　rate　based　on　Proportional　Integral　(PI)　control　to　perform　the　tracking　of　force　and　position　in　complex　dynamic　environments.　Meanwhile,　a　nonlinear　tracking　differentiator　is　developed　to　lessen　the　impulse　of　contact　force　generated　when　the　end-effector　just　contacts　with　environmental　surface.　The　experiments　show　that　the　presented　approaches　effectively　improve　the　safety　and　reliability　of　the　contact　operations.　　©　2023　IEEE.