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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 commercialrobotics manipulator from Rhino Robots Inc. It is a XR-4 arm driven bya Mark IV controller. The XR-4 are 5 axis revolute corrdinate robotarms with a motor driven gripper. It can be extended up to 22.5 inchesand lift weight up to 4.0 lbs. <p>  All its axes are controlled by DC servo motors using incrementaloptical encoders for feedback and contain limit switches which areused 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>