SpaceX Falcon rocket and Dragon launch – in pictures

The Falcon 9 rocket is introduced to the world's media in November 2011. Nasa is counting on companies such as Space Exploration Technologies – SpaceX – to take over the task of flying cargo, and eventually astronauts, to the space station Photograph: Jim Grossmann/NASA

The SpaceX Dragon capsule is lifted in readiness to be placed atop its cargo ring inside a processing hangar at Cape Canaveral in November 2011 Photograph: Kim Shiflett/NASA

Nasa astronaut Megan McArthur performs a crew equipment interface test with the Dragon capsule in March 2012. The SpaceX launch is part of Nasa's Commercial Orbital Transportation Services partnership with US industry Photograph: Paul Bonness/SpaceX

Technicians stow cargo in the Dragon capsule Photograph: Jim Grossmann/NASA

The Dragon capsule is rotated into a horizontal position for joining with the second stage of the Falcon 9 rocket on 26 April Photograph: Jim Grossmann/NASA

The 178-foot (54-metre) Falcon 9 rocket on the launchpad on 18 May, a day before its first scheduled launch window Photograph: Erik S. Lesser/EPA

Falcon 9 lifts off from Space Launch Complex 40 at 3:44 a.m. (8:44am BST) on Tuesday from a refurbished launch pad just south of where Nasa launched its space shuttles Photograph: Michael R. Brown/Reuters

An extended exposure of the Falcon 9 rocket as it launches from Cape Canaveral Photograph: John Raoux/AP

An artist's impression of the second-stage separation
Illustration: NASA

An artist's impression of the Dragon spacecraft with solar panels deployed. It will take about a day to reach the International Space Station's orbit
Illustration: SpaceX

Dragon approaches the space station
Illustration: SpaceX

The Dragon spacecraft at the International Space Station. Berthing at the ISS is scheduled for Friday
Illustration: SpaceX

Dragon parachutes back to Earth for a water landing
Illustration: NASA