Mobile Robot Manipulator

Need a help!
We are customizing the robot based on our requirement, the robot arm will move it in all the direction such as in horizontal, vertical and it is also have an option to rotate the gripper. We are struggling to add kinematics and behaviors to the robot since few days. Please help me out how to resolve this issue.

Is it a robot arm mounted on a vehicle?

Thank you For Quick reply.
I have gone through the tutorial, but our customized robot having two linear joint and three rotational joint.
@zesty Yes It is Robot arm mounted on AGV and Robot arm having vertical Z axis and Horizontal Y axis movement.