A comparison of two TLM altar-server manuals
The Britt is a good overview. I've only started the O'Brien, but it seems more detailed. I would recommend starting with Britt and moving on to O'Brien afterwards. There are also some TLM altar-server manuals online.
UPDATE: Also see Fr. Z's review of "The General Principles of the Roman Rite: For Inferior Ministers". I have this book as well. It's more about the finer points of certain actions (like how to bow, how to strike your breast, how to turn, etc.), so is less critical than the above books but a useful supplement to know how to do things properly. It uses terms like "in plano" (on the floor of the sanctuary), "in actu functionis" (in the act of a function), and "ex actu functionis" (outside the act of a function), which are defined on the last two pages of the book.
Here are pics from "The General Principles of the Roman Rite: For Inferior Ministers". Note that most pages don't have pictures/diagrams, but these ones do.
It seems that a lengthy section from this book is online.