With the development of the technology of serial robots, multiple human-computer interaction control methods through computer programming is becoming a new research hotspots. This article conducts research on physical mechanism, communication and programming interface of haptic input/output device and 6-degrees of freedom serial robots, using Geomagic Touch haptic input/output device producing by Geomagic cooperation. By using OpenHaptics programming interface and UR10 robots to control script language, we construct a real-time control system of 6-degrees of freedom serial robots.