Download A Mathematical Introduction to Robotic Manipulation by Richard M. Murray, Zexiang Li, S. Shankar Sastry, This book includes following topics: Rigid Body Motion, Manipulator Kinematics, Robot Dynamics and Control, Multifingered Hand Kinematics, Hand Dynamics and Control, Nonholonomic Behavior in Robotic Systems, Nonholonomic Motion Planning, Future Prospects. Download the pdf from below to explore all topics and start learning.