The report performs an analytical comparison of three redundancy resolution methods developed by researchers at the Oak Ridge National Laboratory that obtain solutions for the joint velocities for a redundant manipulator based on its kinematic velocity model with an (m x n) Jacobian matrix of full rank m(< n): (i) the Input Relegation Control (IRC) Method; the Belmans and Culioli (B and C) method; and an extension of the B and C method termed Full Space Parameterization (FSP). The report is organized as follows: the three methods are reviewed in section 2. The comparison of the IRC and B and C methods is presented in section 3. The IRC and FSP methods are compared in section 4. The unification of the B and C and FSP null space parameterizations and joint velocity solution methods is discussed in section 5. Constraint free representations of the B and C and FSP joint velocity solutions are derived in terms of the IRC basis and compared to IRC in Appendix A. A summary and conclusion are provided in the final section.