The exponentially increasing number of satellite and space debris in orbit has led to an ever-growing interest and focus on Rendezvous and Docking (RvD) and On-Orbit Servicing (OOS) missions. Development of technologies able to perform such operations reliably, allow to extend operational life of working satellites, remove defunct one to have a more sustainable and reusable space infrastructures. Withing this context, this thesis focuses on the early development (Phase 0 and A) of the ARCap Module by Kurs Orbital, a plug and play solution to be mounted as payload on hosting platforms. The module provide guidance capabilities during the rendezvous maneuver through its sensor suite and enables target capture and on-orbit servicing via integrated robotic arms.