Development of an Automatic Dispensing System for Traditional Chinese Herbs

Table 1

D-H parameters for the camera coordinate system.

i	αi	ai (mm)	di (mm)	θi
1	90°	0	50.6	θ1
2	0°	107	0	θ2
3	0°	39	0	θ3
4	−90°	50	135	θ4(−90°)
5	180°	0	12	θ5(−90°)