The in-orbit construction of ultra-large spacecraft typically relies on space crawling robots to perform assembly tasks. During the assembly process, forced vibration phenomena occur between the space robots and the spacecraft truss, particularly vibrations induced by crawling motions that cause structural fatigue, positioning inaccuracies, and ultimately impact both the overall performance of the spacecraft system and construction efficiency. To address this issue, this paper initially establishes the robot-truss vibration equation. Subsequently, utilizing the control foot as an actuator, a control node identification method based on the energy threshold principle is developed. Integrated with a PD control strategy, an active vibration control scheme is proposed for suppressing vibrations during the robot’s truss-crawling operations. Finally, to validate the effectiveness of the proposed approach, numerical simulations of the truss-robot dynamic system are conducted under simulated microgravity conditions. The results demonstrate that, compared to an uncontrolled scenario, the PD control strategy significantly reduces the energy function value of vibrations and achieves excellent vibration suppression performance. This study provides theoretical foundations and technical support for the operation and control of space crawling robots in spacecraft on-orbit construction.