Welcome to the forum!
First and foremost, there is a big difference in the power that is transferred over a line-level (i.e. RCA) connection versus over a speaker wire connection. You can't just get a wire adapter to make that work.
A couple of things stood out to me, and I have some questions:
1. Does your receiver have a subwoofer OUT? You mentioned that it has a subwoofer IN, but that isn't what you want to send a signal to a powered subwoofer
2. Is your subwoofer powered (easiest way to tell is if you have to plug it into an electrical output)
It might be easiest to let us know the make and model of your receiver, as well as the model of the Panasonic speakers.
Adam