I have a manipulator A with known Jacobian matrix and manipulator B with also known Jacobian matrix. Now I want to chain them, B will be attached at the end of A. How do I get the Jacobian of this manipulator? Can I just multiply the both knwon Jacobian matrices?
Unfortunately is not as straightforward as multiplying them.
The Jacobian of B is considering that the first body is fixed to the plane. You would need to add the velocity at that point, which is the end-point of the first Jacobian.
Basically, you would have an intermediate point, which needs to have the precedent velocity and with some math manipulation, you could get to the full end Jacobian. q