In this second of three short papers, I introduce some of the basic concepts of space robotics with an emphasis on some specific challenging areas of research that are peculiar to the application of robotics to space infrastructure development. The style of these short papers is pedagogical and the concepts in this paper are developed from fundamental manipulator robotics. This second paper considers the application of space manipulators to on-orbit servicing (OOS), an application which has considerable commercial application. I provide some background to the notion of robotic on-orbit servicing and explore how manipulator control algorithms may be modified to accommodate space manipulators which operate in the micro-gravity of space.