In this paper, a new stable dynamic algorithm based on virtual coupling was proposed for 6-Degrees-of-Freedom (DOF) haptic rendering. It allows stable haptic manipulation of virtual objects when a virtual tool has physical property such as mass. In the haptic rendering process, we consider the dynamic property such as rotation inertia in each haptic frame. The main contribution of the stable dynamic algorithm is that it could overcome the "buzzing" problem appeared in the haptic rendering process. A nonlinear force/torque algorithm is proposed to calculate the haptic interaction when the collision happens between the virtual tool and virtual objects. The force/torque magnitude could saturate to the maximum force/torque value of the haptic device. The implemented algorithm was tested with peg-in-hole and Stanford bunny benchmarks. The experimental results showed that our algorithm was capable to provide stable 6-DOF haptic rendering for dynamic rigid virtual objects with physical property such as mass.
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