NASA television broadcast live images of the ISS's 17.6 meter long robotic arm as it grabbed hold of the gumdrop-shaped Dragon capsule at 04:45 IST.
"Capture complete, congratulations to the entire team," said the Japanese station commander, Koichi Wakata, who was in charge of operating the mechanical arm along with American Rick Mastracchio.
"We're excited," Wakata said, smiling.
Both astronauts were dressed casually in polo shirts as they carried out the procedure.
This marks the California-based company's third commercial resupply mission and fourth visit to the ISS.
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