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Over a couple of decades, space junk has increased rapidly, which has causedsignificant threats to the LEO operation satellites. An Active Debris Removal$(ADR)$ concept continuously evolves for space junk removal. One of the ADRmethods is Space Robotics, whose function is to chase, capture and de-orbit thespace junk. This paper presents the development of an on-ground space roboticsfacility in the TCS Research for on-orbit servicing $(OOS)$ like refueling anddebris capture experiments. A Hardware in Loop Simulation (HILS) system will beused for integrated system development, testing, and demonstration of on-orbitdocking mechanisms. The HiLS test facility of TCS Research Lab will use two URsin which one UR is attached to the RG2 gripper, and the other is attached to aforce-torque sensor and with a scaled mock-up model. The first UR5 will bemounted on a 7-axis linear rail and contain the docking probe. First, UR5 witha suitable gripper has to interface its control boxes. The grasping algorithmwas run through the ROS interface line to demonstrate and validate the on-orbitoperations. The manipulator will be mounted with LIDAR and a camera tovisualize the mock-up model, find the target model's pose and rotationalvelocity estimation, and a gripper that will move relative to the target model.The other manipulator has the UR10 control, providing rotational and randommotion to the mockup, enabling a dynamic simulator fed by force-torque data.The dynamic simulator is fed up with the orbit propagator, which will providethe orbiting environment to the target model. For the simulation of the dockingand grasping of the target model, a linear rail of a 6m setup is still in theprocurement process. Once reaching proximity, the grasping algorithm will belaunched to capture the target model after reading the random motion of themock-up model.

Development of On-Ground Hardware In Loop Simulation Facility for Space Robotics