You can look at:
- Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) by Reza N. Jazar. Not bad, but in my opinion calculation of Jacobian is covered badly.
- Robotics: Modelling, Planning and Control Bruno Siciliano. This book also great and covers Jacobian calculation well to implement.
- Trajectory Planning for Automatic Machines and Robots by Luigi Biagiot. Also very helpfull and well written book.
Also look at
https://github.com/kirillv/cpp-inverse-kinematics-library It shows some algorithms (Jacobian Transpose , Jacobian Pseudoinverse , DLS) in C++, and solves IK for robots described in DH.
