  In this second of three short papers, I introduce some of the basic concepts
of space robotics with an emphasis on some specific challenging areas of
research that are peculiar to the application of robotics to space
infrastructure development. The style of these short papers is pedagogical and
the concepts in this paper are developed from fundamental manipulator robotics.
This second paper considers the application of space manipulators to on-orbit
servicing (OOS), an application which has considerable commercial application.
I provide some background to the notion of robotic on-orbit servicing and
explore how manipulator control algorithms may be modified to accommodate space
manipulators which operate in the micro-gravity of space.
