A study on mechatronic systems by using MindStorms

The implementation of the control algorithm in fixed-point arithmetic

Abstract

Recently, a robot toy called, MindStorms is noticed in domestic and overseas. The DC motor is controlled by themicrocomputer according to sensor information. Thus, the robot can be designed freely in hardware and softwareby using MindStorms. In my classes of robotics and mechatronics, MindStorms is utilized since fiscal 2000. Thepurpose of this study is to verify weather it is useful for education and research on the robotics and mechatronics.This paper describes the development of the multifingered robot hand by using the MindStorms Kit. The robotichand can grasp an object by unilateral control. Experimental results show that MindStorms can be sufficientlyutilized for education and research of the robotics and mechatronics.