This paper presents some features of a multi-link space robot ground testing. The scope of the paper comprises the design of the space robot prototype, the architecture of the active ground testing facility and the integrated control system for the robot and the facility. The space robot prototype has two manipulators, which allow the robot to autonomously “walk” from one spacecraft grapple point to another. The possibility of practically arbitrary robot orientation also imposes additional requirements for the structure of the test facility. The manipulators are optimized for mass and energy consumption and have significant inherent mechanical compliance introducing significant position error under earth gravity conditions. These errors prevent the grapple and gripping operations from being successfully executed. As a solution to the problem, an algorithm modification for calculating the motion trajectory of the space robot during ground testing is proposed. The experimental data concerning the manipulators mechanical properties is also presented.