In the past decades, due to the growing complexity of space missions, the need for operations such as maintenance, refueling, de-orbiting and re-orbiting has increased. Missions with such goals, the so called In Orbit Servicing (IOS) missions, can be accomplished with the help of space robotics systems (or space manipulators). The use of such systems has been proven to be a promising approach to IOS in several occasions. For instance space manipulators have been used during the Space Shuttle missions, on the ISS, and played a key role in the maintenance of the Hubble Space Telescope. In addition, IOS missions could be a good solution removing the growing amountof space debris and inactive satellites orbiting around the Earth, which represent a hazard due to the risk of collision with new constellation of satellites.