A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a tracking target position indicative of a position of a target mounted on the robot base. A control system acquires an indication of an end effector destination, determines a tracking target position at least in part using signals from the tracking system, determines a virtual robot base position offset from the robot base and calculates a robot base path extending from the virtual robot base position to the end effector destination, using this to control the robot base actuator to cause the robot base to be moved along the robot base path.

A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates robot arm kinematics using the current robot base position and the end effector path and controls the robot arm to cause the end effector to be moved towards the end effector destination.

A machine processes a slab that is positioned with the finished face down on vacuum pods on a work table. The side edges of the slab are cut with the slab upside by following a mirror imaged slab cut layout to form a slab corresponding substantially to the shape of a countertop. Without removing the cut slab from the vacuum pods and maintaining the finished face down, the machine routes a sink hole using a finger bit that had been switched onto the spindle, the routing path based upon the mirror imaged slab cut layout. The slab is finished by forming an edge profile on the inside of any sink holes and edging and polishing the sides of the finished slab.