In this study, a lab-scale test-bed was developed to simulate the relative position and attitude between a target and a mission spacecraft during a rendezvous and docking mission, in order to verify space proximity operation technologies on the ground. The system comprises three single-axis linear motors for simulating the relative translational motion, a three-axis gimbal and a stepper motor representing the relative attitude. The test-bed is operated by converting the relative position and attitude of the spacecraft with respect to the target from LVLH frame into the test-bed coordinate frame. To replicate realistic space conditions, a special black ink was used to imitate the dark space background, and the flashlight was employed to simulate sunlight. The proposed test-bed enables ground-based simulation of rendezvous and docking scenarios and facilitates quantitative evaluation of vision-based sensor processing performance, demonstrating its effectiveness as an experimental platform for proximity operation verification.