By now, you know what mobile manipulators are, what they constitute, and where they are used. Let's get into building one in simulation. As you are very well aware by now, a mobile manipulator would need a good payload mobile robot base and a robot arm, so let's begin building our mobile manipulator in terms of its parts and then combine them. Let's also consider certain parameters and constraints for building and simulating one. To avoid complexities in robot types and to account for a simple and effective simulation, let's consider the following assumptions:

For a good payload mobile robot base, we want the following:

• The robot may move on a flat or inclined flat surface but not an irregular surface.
• The robot may be a differential drive robot with fixed steering wheels and all wheels driven.
• The target payload...