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<title>Rhino Robotics Manipulator</title>

<h1>Rhino Robotics Manipulator</h1>

	<p>
	<!WA0><a href="http://www.cs.utexas.edu/users/wylee/Pictures/rhino2.jpg"> 
	<!WA1><img align=top src="http://www.cs.utexas.edu/users/wylee/Pictures/rhino-small.gif"></a> 
	<p>

 The robotics manipulator used for our research is a commercial
robotics manipulator from Rhino Robots Inc. It is a XR-4 arm driven by
a Mark IV controller. The XR-4 are 5 axis revolute corrdinate robot
arms with a motor driven gripper. It can be extended up to 22.5 inches
and lift weight up to 4.0 lbs. 
<p>

  All its axes are controlled by DC servo motors using incremental
optical encoders for feedback and contain limit switches which are
used to position the arm to a hardware (known) home position

<p>

(extracted from RHINO: The XR-3, XR-4 and SCARA MANUAL).
<p>

<address><!WA2><a href="http://www.cs.utexas.edu/users/wylee">WYL</a></address>