A Web-Based Graphical User Interface for Programming Optimal Control Based Robot Motion Tasks

The programming of complex tasks with robot manipulators faces the challenges complying to constraints and needing account for several, sometimes conflicting performance objectives. Optimal control problems (OCP) are able explicitly these by solving constrained optimization find optimal trajectories that realize such tasks. wide adoption OCPs, however, is restricted high engineering cost computational complexity associated its implementation. To end, in this paper we present a web application graphical user interface (GUI) acts as front-end Tasho, toolbox constrained-based task specification motion This aims lower setting, simulating deploying realizing direct workflow from definition on GUI deployment real using ROS. By interfacing state-of-the-art solvers libraries through delivers computationally efficient solutions OCPs task.