Virtual robot base

A method for performing interactions within a physical environment using system including:

• a) a robot base;
• b) a robot base actuator that moves the robot base relative to the environment, wherein the robot base actuator includes a boom mounted to a boom base, and wherein the robot base is mounted to the boom;
• c) a robot arm mounted to the robot base, wherein the robot base is positioned between the robot arm and the boom, and wherein the robot arm includes an end effector mounted thereon;
• and
• d) a tracking system that measures a target position indicative of a position of a target relative to the environment, the target being mounted on the robot base, and wherein the method includes, in a control system:
• i) acquiring an indication of an end effector destination defined relative to an environment coordinate system;
• ii) determining the target position at least in part using signals from the tracking system;
• iii) determining a virtual robot base position in a robot base actuator coordinate system offset from the robot base by transforming the target position to the virtual robot base position that is defined at least partially in accordance with an end effector position;
• iv) transforming the end effector destination into the robot base actuator coordinate system using the target position:
• v) calculating a robot base path in the robot base actuator coordinate system extending from the virtual robot base position to the end effector destination;
• vi) generating robot base control signals based on the robot base path;
• and
• vii) applying the robot base control signals to the robot base actuator to cause the robot base to be moved along the robot base path.