  In the rapidly advancing field of robotics, the fusion of state-of-the-art
visual technologies with mobile robotic arms has emerged as a critical
integration. This paper introduces a novel system that combines the Segment
Anything model (SAM) -- a transformer-based visual foundation model -- with a
robotic arm on a mobile platform. The design of integrating a depth camera on
the robotic arm's end-effector ensures continuous object tracking,
significantly mitigating environmental uncertainties. By deploying on a mobile
platform, our grasping system has an enhanced mobility, playing a key role in
dynamic environments where adaptability are critical. This synthesis enables
dynamic object segmentation, tracking, and grasping. It also elevates user
interaction, allowing the robot to intuitively respond to various modalities
such as clicks, drawings, or voice commands, beyond traditional robotic
systems. Empirical assessments in both simulated and real-world demonstrate the
system's capabilities. This configuration opens avenues for wide-ranging
applications, from industrial settings, agriculture, and household tasks, to
specialized assignments and beyond.
