Space manipulator is a key mechanism for on-orbit inspection outside capsule and assisted astronaut extravehicular activities. In order to ensure the safety and efficiency of the whole process of manipulator operation， the motion process of on-orbit operation needs to be planned in advance on the ground to generate motion control commands， and then the motion control commands are verified by digital simulation and deduction. Because of such problems， this paper mainly designs the ground simulation verification framework from the motion space limitation， motion speed limitation and joint torque limitation， proposes a simulation verification strategy based on kinematics and dynamics modeling and analysis of the relationship between motion space and collision， and gives the calculation methods of joint motion， joint torque and contact safety distance， as well as the criteria of over limit detection and risk judgment. Finally， through joint position overrun detection， velocity overrun detection， torque overrun detection， contact detection and safety distance calculation， the control command of space manipulator is effectively verified by ground simulation experiment.