function [Q] = InverseRhino(TIP)
% Assumes link 5 is pointing straight down

   Xtip = TIP(1);
   Ytip = TIP(2);
   Ztip = TIP(3) + 5;

   q1 = atan2(Ytip, Xtip)
   
   r = sqrt(Xtip^2 + Ytip ^ 2)
   z = TIP(3) + 5
   d = sqrt(r^2 + (z-50)^2)
   h = sqrt(50^2 - (d/2)^2)
   qa = atan2(z-50,r);
   qb = atan2(h, d/2);
   q2 = -(qa + qb);
   q3 = pi - 2*atan2(d/2, h)

   q4 = -q2 - q3;

   Q = [q1 ; q2; q3; q4; 0];
   
   end