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Injury always hampered his progress at Blundell Park, but despite this Paul Groves signed him permanently the following season. He played in the 0-0 away draw at Bradford City, he started alongside Steve Kabba and then after 11 minutes was taken of injured.
Taylor spent the rest of the few months he had left at Town on the treatment table before he was released on a free transfer when he was fit.
Rob signed a short term deal with Scunthorpe United and played around 5 games before injury knocked him back again. Taylor moved to Kings Lynn FC but retired after a few weeks there. He became the Reserve team manager at Kings Lynn.
He then quit and returned to playing with non league Gorleston FC. However the former Manchester City striker was appointed in charge of Dereham and decided not to be installed as a player aswell.