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For critical space assets located in Geosynchronous Orbits (GEO) or other high-altitude orbits, EVA is not even an option in the foreseeable future. Unfortunately, this increases mission costs and turn-around time drastically, making servicing missions too costly, of prolonged development, or even unfeasible. However, EVAs are by nature risky operations requiring careful planning and preparation. Until now, all notable servicing tasks have been performed at Low Earth Orbit (LEO) by astronaut Extravehicular Activities (EVAs).

Space exploration and exploitation depend on tasks such as inspecting, refueling, upgrading, repairing, or rescuing satellites, removing of orbital debris, and construction and maintenance of large orbital assets and infrastructures. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. 4Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Germany.3Intelligent Robotics and Autonomous Systems Lab, College of Engineering and Applied Science, University of Cincinnati, Cincinnati, OH, United States.2Space Exploration, Canadian Space Agency (CSA), Montreal, QC, Canada.