1. Get an account at the World Spider Catalog at http://www.wsc.nmbe.ch/
2. Search for the taxa you want to learn the taxonomy of
3. Start downloading and reading
4. Come back here with your specific questions after reading as much as possible first. I'm sure there are a few here that can either help or direct you to the right resource.
For Aphonopelma, the best we have right now is Andrew Smith's "Tarantulas of the USA and Mexico" available at www.lovetarantulas.com and the papers of Chamberlin and Chamber & Ivie who originally described the majority of the Aphonopelma species. Those name will make more sense when you search the World Spider Catalog.
For Haplopelma, see the genus page at the World Spider Catalog and start downloading and reading everything you can. I don't know that there is one comprehensive key for all species.
Determining the ID of the majority of theraphosid spiders is not an easy task and it will take study and practice.
The whole Aphonopelma genus is in a questionable state these days. Chris Hamilton has been working on revising it based upon DNA. Hopefully he'll publish soon. Here's a link to his site. http://www.8legs2fangs.com/Site/Aphonopelma.html
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