In order to improve the stability of the terminal position and pose adjustment, the software robot is disturbed by steady-state error, which leads to the problem of independent control of the stiffness of the software robot. An independent stiffness control method for soft robot based on end circle calibration is proposed. The rigid body mechanics decomposition method is used to construct the dynamic analysis model of software robot, and the strict feedback control method is used to control the terminal position and pose memory of software robot. The scale integral controller is used to calibrate the end circle of the software robot, and the inverse kinematics model is used to adjust the rigid body independence of the software robot. In the joint space, the end position and attitude feedback correction of the robot is realized by adjusting the deviation correction and the adaptive stabilization of the programming trajectory, and the optimal control of the software robot is realized. The simulation results show that the algorithm has good steady-state stability and strong deviation correction ability for independent stiffness control of software robots.