Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot

Table 5 Comparison of the six methods based on accuracy, execution time, and mean iteration

IK methods	Ranges of error magnitude (mm)			Execution time (s)			Average iteration
IK methods	e ≤ 1	1 < e ≤ 3	e > 3	t ≤ 0.1	0.1 < t ≤ 1	t > 1	Average iteration
Proposed method	172,338	21,169	974	194,481	0	0	1
Jacobian SVD−DLS	193,514	211	756	729	187,437	6315	12.61 ± 23.7
Jacobian DLS	192,389	1139	953	8	187,679	6794	20.58 ± 67.8
Jacobian transpose	8103	10,361	176,417	0	4751	189,730	500
CCD	12,192	14,795	167,494	23	7617	186,841	379.46 ± 185.3
FABRIK	18,788	22,528	153,165	39,613	11,649	143,219	327.12 ± 217.5

ISSN: 1475-925X