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The unmanned Dragon capsule from the private US firm SpaceX successfully reached the International Space Station today, its third trip carrying supplies and equipment to the orbiting lab.

NASA broadcast live images of the ISS's 17.6m (57.7ft) long robotic arm as it grabbed hold of the gumdrop-shaped capsule on schedule.

'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.

SpaceX Dragon resupply capsule is seen after being berthed on to the International Space Station. At the time this photo was taken the capsule was traveling over Brazil

'We're excited,' Wakata said, smiling.

Both astronauts were dressed casually in polo shirts as they carried out the procedure.

NASA said the event took place 250miles (402km) above the Earth's surface as the ISS hovered over the Nile.

SpaceX has a $1.6bn contract with NASA for a series of future supply missions.

NASA astronaut Richard Mastracchio at the controls during the berthing of the SpaceX Dragon resupply capsule to the International Space Station

SpaceX Dragon resupply capsule approaches the International Space Station high above the earth's surface

This marks the California-based company's third commercial resupply mission and fourth visit to the ISS.

After three delays, a SpaceX Falcon 9 rocket blasted off with the Dragon capsule from Cape Canaveral in Florida on Friday.

The mission had originally been scheduled for mid-March but did not go ahead because of technical issues.

The SpaceX Dragon resupply capsule begins the process of being berthed on to the International Space Station

The Dragon capsule delivered 2.2 tons of cargo, including food, new spacesuits, components to replace those aboard the ISS and equipment for 150 scientific experiments.

One of the experiments will be the Vegetable Production System, or Veggie, which would allow the production of salad-type crops to safely feed the astronauts.

Another experiment seeks to determine why an astronaut's immune system weakens in microgravity.

The SpaceX Dragon resupply capsule begins the process of being berthed on to the International Space Station

SpaceX Dragon resupply capsule just prior to being captured by the Canadarm2 from the International Space Station

SpaceX Dragon resupply capsule just prior to being captured by the Canadarm2 from the International Space Station

The SpaceX Dragon resupply capsule is captured by the Canadarm2 from the International Space Station

NASA is also sending an experiment system that can more rapidly transmit data using a laser communication system, in a first from space.

In all, SpaceX is due to complete a dozen missions for the US space agency.

SpaceX became the first commercial entity to reach the space station with its Dragon cargo ship in May 2012 in a trial run. Owned by internet entrepreneur Elon Musk, the company's first cargo mission took place in October that year.

The last mission involving a Dragon capsule was completed in March 2013.