Instruct: Classify Amazon reviews into positive or negative sentiment
Query: A good book, but only a close second

The notation in this book is quite a problem. John J. Craig's book "Introduction to Robotics, Mechanics and Control" does a better job with the notation and clairity of explanation. The math is perfectly applicable, once one gets through the notation. Since there are a few concepts in Paul's book that are not covered in Craig's, both books should be part of a library for anyone involved in the mathematics of robotics.