The study of robotics cannot be satisfactorily pursued without access to working robots. The inexpensive Rhino robot arm is one that academic institutions can easily obtain for educational purposes. This thesis presents a new controller that replaces the original Rhino controller, which in many ways was not suited, or was too limited, for experimentation. A comparison of the old and new controllers is given, but the primary purpose of this thesis is to provide complete details of the new controller, and its use. The conclusion discusses the performance of the new controller and areas of experimentation to which it might be applied. / Master of Science