The invention discloses a synchronous control system for a multi-joint truss robot. The synchronous control system comprises driving motors arranged on movable joints which are connected in series; the driving motors are arranged at the driving ends of the movable joints; the driving end and the follow-up end of each movable joint are each provided with a bracket mechanism; the bracket mechanisms are provided with vibration sensors and acceleration sensors; and a controller is in communication connection with all the vibration sensors and the acceleration sensors. The invention further discloses a control method of the synchronous control system for the multi-joint truss robot. According to the synchronous control system for the multi-joint truss robot and the control method of the synchronous control system, deficiencies in the prior art can be overcome, and the influence of detection errors on the control progress is reduced.