Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace

Table 2

D-H parameters.

Joint number (i)	ai-1 (m)	∝i-1 [deg]	di [m]	θi [deg]
1	0	−90	−1.604	90
2	0.8	0	0	−90
3	0.73	0	0	180
4	0	90	0	0
5	0	−90	0	90
6	0	180	−0.567	0