Hand-off of an object from the flexible Remote Manipulator System (RMS) to the Flight Telerobot Servicer (FTS) in a space construction application is simulated. The application includes consideration of flexible multibody dynamics, control, and variable system topology. Position synchronization between the FTS end effector and a payload that is attached to the RMS is achieved by controlling the trajectory of the FTS end effector. Special position constraints and orientation rheonomic constraints are developed and imposed to simulate the object capture. Vibration suppression of the flexible arm is studied, using bang-bang controllers in the FTS.