A system for filling orders, such as prescriptions for patients, having a generally cylindrical storage area for holding packages in known locations. Each location has a unique (r,.theta.,Y) coordinate. The system also has a computer controlled device for picking packages from selected locations in the...http://www.google.ca/patents/US5880443?utm_source=gb-gplus-sharePatent US5880443 - Automated system for selecting packages from a cylindrical storage area
