The basic function of the space manipulator in orbit is to capture the target, and visual servoing is an important step for the space manipulator to capture the target. Visual servoing involves multi-physical field coupling factors such as manipulator kinematics, dynamics, motion control, and space constraints. Ground test verification often has limitations such as modeling errors and high economic costs. The author of this article proposes a ground test method for the visual servo verification of a space manipulator. The space manipulator is supported on an air-floating platform so that all its joints can rotate freely; the hand-eye camera is placed in a fixed position, and an industrial manipulator is used to install a camera marker to simulate the motion trajectory of the captured target. The manipulator motion trajectory and the target motion trajectory are mapped to the simulation software, and data is exchanged between modules through an X86 architecture real-time controller to ensure the real-time performance of the system.