The authors have proposed the Coordinated Control of a Satellite-Mounted Manipulator with Compensation for Inertial Parameter Variations in the previous paper. In this method, disturbances are absorbed by using feedforward control based on estimation of the manipulator angular momentum, and further errors are removed by using feedback control with gains that change according to the inertial parameter variations of the system. In this paper, the validity and usefulness of the proposed scheme are verified through computer simulation results. The proposed method is also compared with other types of control approaches, including feedforward control using exact calculation of nonlinear terms, feedforward using exact calculation of the angular momentum, and feedback control using fixed or bariable gains. In these analysis, a three-dimensional space robot model is used, so that coupling between roll, pitch, and yaw axes can also be considered.