Testing iterative robotic algorithms by their rate of convergence. - Charles A. Klein; Caroline Chu-Jenq; Sakon Kittivatcharapong (IEEE Trans. Robotics Autom., 1991)

Use of an Extended Jacobian Method to Map Algorithmic Singularities. - Charles A. Klein; Caroline Chu-Jenq; Shamim Ahmed (ICRA (3), 1993)

A new formulation of the extended Jacobian method and its use in mapping algorithmic singularities for kinematically redundant manipulators. - Charles A. Klein; Caroline Chu-Jenq; Shamim Ahmed (IEEE Trans. Robotics Autom., 1995)