For autonomous capture of non-cooperative spin targets in on-orbit service, a simplified model of the target is built based on the operation characteristics of autonomous capture and the motion characteristics analysis of spin targets. Then, the motion simulation requirements of spin targets are proposed. On this basis, the ground simulation scheme for spin targets and two methods of motion simulation based on 6-DOF (degree of freedom) industrial robot are presented, i.e. the conventional simulation method based on manipulator end motion and the spin simulation method based on manipulator shoulder singularity. Finally, these two methods are introduced and simulated respectively. The simulation results show their feasibility and validity.