This paper propose an indirect adaptive strategy with impedance control for dual-arm cooperative manipulation, this method generates the desired position of two end-effectors despite lack of object's stiffness, and this position satisfies the requirement of the contact force. Besides, the target force applied by two arms can be determined through force distribution, while the target force tracking can be achieved by impedance controller. Compared with the original impedance control algorithm, this method has stronger adaptability, smaller deviation, and can achieve better tracking of the target force. Simulations are done on two 6-dof robots in Adams and Matlab, the results show the merits of the control algorithm.