I have a mobile manipulator that moves on the plane. The base moves in SE(2) and the manipulator is also planar with 4 links. The mobile base will be a differential drive robot and its motion is defined as:
The manipulator is attached to the center of our mobile base. How do I compute the Jacobian of the mobile manipulator?
I know that for the mobile manipulator I have something of the form:
The middle matrix is what I need to compute.