This paper develops the grasping/manipulating simulation system considering the micro/macro collision model. Previous haptics, especially the bilateral control systems, mainly focused on transmitting the sense of touch and position tracking. In order to expand haptic technology, it is necessary to consider the dynamics motion, such as the impulse force against the environment. For this reason, a collision model is implemented into an environment for a grasping/manipulating simulation system. By applying the collision model, the reaction force, which occurs between the robot and the environment, can be predicted. This implies more accurate interpretation of the dynamics between the robot and the object is available. The simulation platform is confirmed to be valid by comparing the experimental result with the simulation result of grasping/manipulating control. From these results, the relation between the environmental parameters and sampling period of the controller is clarified.