I will highly recommend reading this textbook along with RM Murray's "A Mathematical Introduction to Robotic Manipulation" [1]. 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 [2] 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.

1. https://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-comp...

2. https://www.coursera.org/specializations/modernrobotics