This proposal aims to develop an industry-graded real-time flexible controller for mobile manipulators, able to deal with dynamically-changing scenes in human-robot cooperative scenario. The idea is based on the increasing demand of industrial applications involving logistic support to human operators by robot with potentially unlimited workspace and manipulation capabilities, e.g. to provide parts on flexible assembly lines. This involves the development of a hierarchical and modular controller, in which several tasks with different priority, such as safety, robot limitations, collision avoidance, end-effector position and power consumption, can be considered simultaneously, guaranteeing the satisfaction of the higher priority ones.