This article provides a brief overview of the space debris population, debris attitude dynamics, technologies for debris removal, followed by a more indepth discussion of robotic arm based capture of debris. Guidance aspects of active debris removal missions are discussed. Mission phases for active debris removal missions are rendezvous, inspection, attitude synchronization and capture and detumbling. The need for attitude synchronization is driven by recent observations of Envisat which exhibits a fairly high rotation rate.
Peters, T. V. (2016). Formation flying guidance for space debris observation, manipulation and capture. In Astrophysics and Space Science Proceedings (Vol. 44, pp. 225–239). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-23986-6_16