A dynamic modeling and control method is presented based on virtual simulation to achieve force-feedback operation of complicated haptic device with parallel structure. Firstly, the Maryland haptic device is analyzed and its mathematic model is established. And, a physical simulation model is built in SimMechanics environment, which can be amended and compensated directly according to the experimental environment and the calibration parameters. The driving results of the two models are contrasted, and the result shows that the revised simulation model has higher precision and can be used for dynamic control. Finally, a semi-physical simulation system is established according to control requirements, after designing the collision simulation module on the basis of the simulation model. And the experiment is accomplished about generating horizontal feedback force according to collision sign in operation process. The haptic device forces in the simulation and the experiment are consistent, which shows the feasibility and accuracy of the control method.