Jean-Claude Latombe (Latombe) Robot Motion Planning, Kluwer Academic Publishers, 1991. (At this link, you’ll find a downloadable pdf.)
Steven M. LaValle (LaValle) Planning Algorithms, Cambridge University Press. (At this link, you’ll find a downloadable pdf.)
Murray, Li, & Sastry A Mathematical Introduction to Robotic Manipulation, CRC Press. (At this link, you’ll find a downloadable pdf.)
P. Corke (Corke), Robotics, Vision & Control. This book includes plenty of Matlab examples, and is generally a delight to read. This book is available online via SpringerLink.