- 3.1 covers the basics of Forward Kinematics and DH Notation
- 3.2 covers the math behind basic Inverse Kinematics
- 3.3 is probably the most in-depth exploration of the math behind Inverse Kinematics, specifically for a mobile robot with 2 wheels. Defines a Jacobian Matrix
- 3.4 has some basic definitions for under/fully/over-actuation and some more IK.