Challenges and Innovations in OSAM through a novel Space Robot proposal

This thesis aims to explore comprehensively and in detail the vast realm of aerospace robotics, dividing itself into three strategically interconnected sections. The first section, titled "Robotics and Aerospace: Structures, ISAM, and Popup," delves into the core of aerospace robot structures. Subchapter 1.1, dedicated to "Robot Structure," goes beyond the surface, examining the peculiarities that distinguish robots designed for space from terrestrial counterparts. Specifically, it explores the unique challenges related to the design of robotic systems operating in a space environment. Subchapter 1.2, focused on "In-space Servicing, Assembly and Manufacturing," delves into the innovative concept of the Space Lab, a strategic hub for advanced operations in space. The section concludes with Subchapter 1.3, detailing the extraordinary category of robots called Popups, particularly examining fundamental kinematic considerations. The second part, "Control strategies for spacecraft operation," delves into the domain of the physical laws governing space operations. Subchapter 2.1, titled "Laws of Physics," thoroughly examines the fundamental physical laws shaping the behavior of objects in space. Subchapter 2.2, focused on "Orbital Control," outlines key strategies for orbital maneuvers, including trajectory correction, modification of orbit shape, and essential rendezvous procedures to precisely position Popups in space and in orbit. The third section, "Integrated Robotic Control: Trajectory Planning and Visual Control," constitutes the culmination of the thesis, focusing on specific robot control. Subchapter 3.1, dedicated to "Trajectory Planning," explores the intricacies of joint spaces and operational spaces, providing a solid foundation for advanced trajectory planning. Subchapter 3.2, "Visual Control," analyzes in detail the processes of processing and segmentation, introducing key concepts for visual control. The section culminates with Subchapter 3.3, "Advanced Visual Control Strategies for Robotic Operations," presenting sophisticated approaches such as ArUco marker recognition and the use of YOLO, along with a synthetic overview in Subchapter 3.4. In conclusion, this thesis offers a comprehensive examination of the dynamics defining aerospace robotics, not only exploring challenges and solutions but also anticipating a landscape of technological innovation that will shape the future of space exploration and practical applications.