Playbar can only accept IR commands, it does not have bluetooth.  So you need some sort of device in between that can covert bluetooth to IR….if such a thing exists.  An alternative is to get a universal remote that has both bluetooth and IR capabilities.

Often, TV makers will create ways to change between bluetooth and IR on the remote, since most other devices that you might attach to the TV, like DVD players, will use IR as well, and not bluetooth. You may want to check the manual for the TV set to see if Panasonic does such a thing. 

I would first check the TV/Remote user manual to see if there is an option built into the remote to switch it to IR to control peripheral devices, if not, then just use any other separate IR capable remote instead.