Easiest thing would be to log in to that server as administrator and run the same install packages for the DLL's that you used to get them on your development machine. You would likely not want to have the Copy Local set to true for your references to the DLLs. When COM objects are installed they are registered in the registry which is why you need the admin privileges. You will want to test this out on a DEV server first!
You may have to Google the DLLS if you dont have the original install packages, make sure you get the correct version.
You would only have to do this once and would then be able to release new versions of your Service without re-installing the COM objects.
If you want to be able to install easily to multiple machines you could possibly do this by adding a Setup and deployment project to your solution, it is likely though that the installer that comes with the DLL's is a much better and simpler choice.
EDIT,
For example I found an install for RDO 2.0 on the Microsoft site MSRdo20.cab