7/28/2019 Experiments With LEGO- Mindstorms

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Experiments with LEGO-Mindstorms

T. Steffen, C. Falkenberg

LEGO-Mindstorms Robotics Inventions SystemThe microcomputer RCX can interact with

- actuators (e.g. motors),

- sensors (e.g. touch and light sensors),

- other RCX microcomputers, and

- a PC via an infrared interface.

Acrobot

Inventrobot

Control engineering experiments

Inventorbot

Acrobot

Sequential control experiments(e.g. If right arm is touched, turn bodyand throw ball with left arm)

General control experiments(e.g. Follow the line on the floor)

Programming the robots

From this microcomputer, sensors, motors and someordinary LEGO-parts, different robots can be built.

Motor

Touch Sensor

Light Sensor

while (!TOUCH(Sensor_1)) {motor_a_speed(MAX_SPEED/2);motor_a_dir(fwd);

}

C-programming language

- Include libraries (e.g. dmotor.h)

- Write program, e.g

- Compile program for the RCX

microcomputer

RCX Microcomputer

Outputs toactuators

Inputs fromSensors

Mindstorms block

orientated language

- Controlling the robots

in an intuitive way

MATLAB Simulink

- Simulink-blocks for every componentof the

- Program is built as Simulink-model

- Compile program for RCX microcomputer

with the MATLAB Real-Time-Workshop

LEGO-Mindstorms Robotics

Inventions System

Simulink-blocks ofMindstorms components