Six degree-of-freedom（6-DOF）vibration test is an advanced mechanical vibration environment test method and it is one of the main research directions in the vibration environmental test at present. In this work，the acceleration characteristics of a 6-DOF vibration system are analyzed first，and then the acceleration characteristic of any point on the shaker table is established. The input transformation matrix is derived by introducing the absolute rigidity assumption of the shaker table. The derivation of the output transformation matrix is presented. The output transformation matrix is related to the number and configuration of the shakers，which indicates the relationship between the six resultant forces of the shaker table and the actual drive forces. Then，the 6-DOF random vibration control method is formulated which consists of the generation of the drive signals and control of the response signals. The configurations of the eight shakers and arrangement of the control sensors are discussed. Finally，to verify the presented method，a simulation example of 6-DOF random vibration test is carried out.