The present invention relates to a space manipulator system anti-interference attitude coordinative verification device and a control method. The verification device is composed of a triaxial air floating table, a multi-connecting rod manipulator measurement and control module, a pedestal spacecraft attitude control module and a central control module. The triaxial air floating table is used to simulate the motion of a pedestal spacecraft, at the same time, provide a space mechanical environment for the multi-connecting rod manipulator measurement and control module and the pedestal spacecraft attitude control module. The multi-connecting rod manipulator measurement and control module is used to support the verification of the manipulator in-orbit path planning, the attitude measurement and the driving control, the pedestal spacecraft attitude control module is used to control and adjust the attitude of the pedestal spacecraft, and the central control module is used to switch and upload the control algorithms, simulate and inject the multi-source interference and analyze and process the test data. The control method is stored in a test main control unit, can compare with and verify a conventional space manipulator system control algorithm, and guarantees the stability of the pedestal spacecraft under a space complicated interference environment and the fine operation and control capability of a multi-connecting rod manipulator.