This introduction to robotics offers a distinct and unified perspective of the mechanics, planning, and control of robots. It is ideal for self-learning, or for courses, as it assumes only freshman-level physics, ordinary differential equations, linear algebra, and a little bit of computing background. Modern Robotics: • Presents the state-of-the-art screw-theoretic techniques capturing the most salient physical features of a robot in an intuitive geometrical way; • Includes numerous exercises at the end of each chapter; • Has accompanying, freely-downloadable software written to reinforce book concepts; • Provides freely-downloadable video lectures aimed at changing the classroom experience, which students can watch in their own time, whilst class time is focused on collaborative problem-solving; • Offers instructors the opportunity to design both one- and two-semester courses tailored to emphasize a range of topics, such as kinematics of robots and wheeled vehicles, kinematics and motion planning, mechanics of manipulation, and robot control; • Can be used either with courses or for self-learning.