In the space sector, robotics is expected to play an increasingly central role, especially in the field of OSAM, which includes on-orbit assembly, handling, and debris management activities. Space robotics technologies make it possible to limit space debris and replace human intervention in complex or dangerous operations. Furthermore, inflatable technology applied to space is a topic of growing interest, as it enables structures to be launched in a highly compact form and later deployed to full size, significantly reducing both payload volume and launch mass. This thesis was conducted at Politecnico di Torino, in the DIMEAS department, where IDRA, a planar space manipulator prototype, is being developed and tested in simulated microgravity conditions.