  On-orbit operations such as servicing and assembly are considered a priority
for the future space industry. Ground-based facilities that emulate on-orbit
interactions are key tools for developing and testing space technology. This
paper presents a control framework to emulate on-orbit operations using
on-ground robotic manipulators. It combines Virtual Forward Dynamics Models
(VFDM) for Cartesian motion control of robotic manipulators with an Orbital
Dynamics Simulator (ODS) based on the Clohessy Wiltshire (CW) Model. The
VFDM-based Inverse Kinematics (IK) solver is known to have better motion
tracking, path accuracy, and solver convergency than traditional IK solvers.
Thus, it provides a stable Cartesian motion for manipulators based on orbit
emulations, even at singular or near singular configurations. The framework is
tested at the ZeroG-Lab robotic facility of the SnT by emulating two scenarios:
free-floating satellite motion and free-floating interaction (collision).
Results show fidelity between the simulated motion commanded by the ODS and the
one executed by the robot-mounted mockups.
