Fig. 7From: Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robotVectorization of known points (\(EP, BP, VP_{{C_{1} }} , VP_{M} , VP_{{C_{2} }}\) and TP) for joint angles in four-link module. a Computation of individual joint angles. b Error minimization from the base jointBack to article page