In a continuing program of research in robotic control of intermittent dynamical tasks, we have constructed a three degree of freedom robot capable of “juggling” a ball falling freely in the earth's gravitational field. This work is a direct extension of that previously reported in [7, 3, 5, 4]. The present paper offers a comprehensive description of the new experimental apparatus and a brief account of the more general kinematic, dynamical, and computational understanding of the previous work that underlie the operation of this new machine.