Spacecraft Simulators allow to emulate the dynamics and/or kinematics of satellites on the ground, and play a key role in ground testing. In particular, 3-degree-of-freedom (3-DOF) Spacecraft Kino-Dynamics Simulators with planar air bearings are used for research and testing in dynamic modeling and guidance, navigation and control (GN&C), performance and steering laws of actuators, and contact mechanics. This master's thesis has two main goals. The first is to realize a "miniature" orbital robotics test-bed, in which a newly designed floating spacecraft simulators (FSS) can be tested; the second is to design and test a GNC algorithm, which allows the vehicle to perform basic attitude and position maneuvers.