During the period I spent at Thales Alenia Space (TAS) to complete my Master's Thesis my job was to implement a suitable control strategy, using the Schunk 6DOF Powerball Light Weight Arm 4P, controlled with a custom framework developed by Università di Genova for TAS, and the Schunk FTM115 force-torque sensor, to test a docking mechanism previously designed by TAS in collaboration with Politecnico di Torino. The mechanism is composed by two parts, the male active one is controlled separately with an Arduino Mega microcontroller to change its position in order to recover for possible misalignments, reducing the contact forces between its telescopic probe and a cone-shaped passive half.