The Ketop T10 directMove handheld control unit from Keba is used for mobile robot operation. According to the manufacturer, its intuitive teach-in eliminates the need for complex abstraction and complicated thinking in coordinate systems. Thanks to the inertial sensors of the 6D Inertial Measurement Unit (6D IMU), the device recognizes its position and direction in three-dimensional space. The operator can therefore specify the desired movement or rotation by pointing in the direction of travel and operating a small joystick - regardless of their position relative to the robot. Therefore, no precise knowledge of coordinate systems is required. The speed of movement can be changed by the intensity of the joystick deflection. Individual path points are determined and fine-tuned using the hand-held control unit. If required, conventional operating devices and display devices such as notebooks can also be used for programming.