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Modern Robotics: Mechanics, Planning, and Control
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This is great. Thank you for the detailed answer.
I found two 6-course specializations on Coursera earlier, which one do you think would be a good starting point for me?
⬐ serenI don't known them, but it looks like they both introduced the same concepts, so either of them is probably right.
I will highly recommend reading this textbook along with RM Murray's "A Mathematical Introduction to Robotic Manipulation" . Both of these textbooks provide very intuitive and clear cut explaination of principles behing robotic motion and planning.
I would also highly recommend completing a 5-course specialization on Coursera  by the same name as the first textbook. The course is conducted by the author, he uses plenty of great visualization to explain the concepts clearly and the course follows the textbook.
⬐ chombierAfter quickly scanning the summary and first chapters, it looks pretty similar to MLS94, perhaps a little more approachable.