Rotary-wing flight robot is a novel aerial robot system containing a rotorcraft and a manipulator. To implement the operation when interacting with the environment, an object operation control strategy with the ability of disturbance rejection in task space is proposed. Firstly, the kinematical model and dynamical model of the rotary-wing flight robot are established in the generalized coordinates. And the relation between inputs and outputs is determined. Then, the robot system is divided into three control loops of position, attitude and manipulator loop.Linear Active Disturbance Rejection Control (ADRC) algorithm is employed to design the controller for each control loop. In the control structure, the linear extended state observer and PD control law are used to estimate and compensate the lumped disturbance. Moreover, the stability analysis and parameter tuning are conducted for the control algorithm. Finally, the object operational control experiment is executed on the rotary-wing flight robot system. All the results show that the proposed control algorithm has strong ability of disturbance rejection and fast response speed, which can keep the stability of position/attitude of the rotary-wing flight robot in operation.