Jin Sato's LEGO MINDSTORMS

by Sato, Jin

• ISBN13: 9781886411562
• ISBN10: 1886411565
• Format: Trade Paper
• Copyright: 2002-04-01
• Publisher: No Starch Press

Summary

The LEGO MINDSTORMS robotics kits make it easy and fun to build working robots with LEGO bricks, motors, and a programmable controller. In his landmark book, Jin Sato introduces the basic principles of robotics engineering, including how to plan and build robots with tires, legs, and grasping hands. Readers learn how to build Sato's famous robotic dog MIBO as well as four other robots.

Table of Contents

Preface From the Japanese Edition	xvi
PART 1: LEGO BRICKS AND BUILDING BASICS
Basic Brick Assembly
Brick Basics	3	(1)
Basic Building Techniques	4	(1)
Working with Motors and Gears	5	(1)
Combining Beams and TECHNIC Plates with Holes	5	(2)
Combining TECHNIC Pins, Beams, and Liftarms	7	(3)
Diagonal Joining Techniques	10	(3)
Joining Diagonal Assemblies Vertically	13	(1)
Summary	14	(1)
Motors
Motors You Can Use with the RIS	15	(1)
The RIS Motor	16	(1)
Summary	17	(2)
Gears
The LEGO Gears	19	(1)
Gears Included in the RIS	19	(1)
Gears Not Included in the RIS	19	(3)
Other Parts Used with Gears	22	(2)
Experimenting with Gears: Preparations	24	(1)
Building the Gear Testing Assembly	25	(7)
Experimenting with Flat tooth Gears	32	(1)
Experimenting with Gears	32	(7)
Rotation Direction	39	(1)
Torque	39	(1)
Gear Ratio	39	(1)
Backlash	39	(1)
Changing the Direction of Rotation	40	(1)
Experimenting with the Bevel Gears	41	(5)
Experimenting with the Bevel Gears	46	(1)
Gear Combinations	46	(4)
Summary	50	(1)
Sensors and the RCX
Sensors	51	(1)
Electric Touch Sensor Brick	51	(1)
Electric Light Sensor	52	(1)
Electric Rotation Sensor	52	(1)
Electric Temperature Sensor	52	(1)
The RCX	52	(2)
The RCX's Internal Circuit Board	54	(1)
Positioning the RCX	55	(1)
Robotics Discovery Set and Droid Developer Kit: Alternatives to the RCX	56	(1)
Summary	56	(3)
PART 2: SOFTWARE
RCX Software Fundamentals
Software Architecture	59	(1)
Level 0	59	(1)
Level 1	60	(1)
Level 2	60	(1)
Level 3	60	(1)
Standard Firmware	60	(1)
User Firmware	61	(1)
Summary	61	(2)
RCX Code 2.0
Programming Operations	63	(1)
Controlling the Motor	64	(1)
Looping	65	(1)
Tasks	65	(1)
Sensors	66	(1)
Using a Sensor to Branch a Program	66	(1)
Event-Driven Program	67	(1)
Variables	68	(1)
Subroutines	68	(1)
Summary	69	(2)
Robolab 2.0
ROBOLAB Versions	71	(1)
The ROBOLAB Program Screen	71	(2)
ROBOLAB Programs	73	(1)
Controlling the Motor	73	(1)
Looping	73	(1)
Tasks	74	(1)
Sensors	74	(1)
Using a Sensor to Branch a Program	74	(1)
Using a Sensor to Create an Event- Driven Program	75	(1)
Variables	75	(1)
Subroutines	76	(1)
Compile Errors	76	(1)
Summary	76	(1)
NQC and The RCX Command Center
About NQC	77	(1)
About the RCX Command Center	77	(1)
Download and Install the Programs	78	(1)
NQC Programs with RcxCC	78	(1)
NQC Tasks	79	(1)
Controlling the Motor	79	(1)
Looping	80	(1)
Tasks	81	(1)
Sensors	81	(1)
Using a Sensor to Branch a Program	81	(1)
Using a Sensor to Create an Event-Driven Program	82	(1)
Variables	83	(1)
Subroutines	84	(1)
Compile Errors	85	(1)
Summary	85	(2)
legOS
Download and Install legOS and Related Software	87	(1)
Install Cygwin	88	(1)
Install the Cross-Compiler	88	(1)
Set Up the Bash Shell	88	(1)
Install legOS	89	(1)
Build legOS	89	(1)
Confirm legOS Is Working	89	(1)
Compile and Transfer Your Own Programs	90	(1)
legOS Program Examples	91	(1)
Controlling the Motor	91	(1)
Looping	92	(1)
Tasks	92	(2)
Sensors	94	(1)
Using a Sensor to Branch a Program	94	(1)
Variables	94	(2)
Debugging	96	(1)
Further Possibilities	96	(1)
Summary	96	(1)
Third-Party Programs That Let You Control The RCX
The USB Tower	97	(2)
Installing and Using VLL	99	(1)
RCX Byte Code	99	(1)
Byte Code Attributes	99	(1)
Byte Code Transfer Format	99	(2)
Sample Program	101	(2)
Tower Programming Compared	103	(1)
Timeout	103	(1)
Serial Tower Echo	104	(1)
Reception Timing	104	(1)
Summary	104	(5)
PART 3: CREATING ROBOTS
Robots That Use Tires
Tire Robot #1	109	(6)
Making the Robot Walk ``Randomly''	115	(1)
Random Walk Program (RCX Code 1.5)	115	(2)
Random Walk Program (RCX Code 2.0)	117	(2)
Adding Feelers	119	(2)
Build the Feelers	121	(7)
Program the Feelers	128	(2)
Adding Eyes	130	(1)
Program the RCX to Follow a Black Line	130	(1)
Two Methods in RCX Code 1.5	130	(3)
Two Methods in RCX Code 2.0	133	(1)
Program Alternative	134	(1)
Improving Your Robot	134	(1)
Building Multi-Legged Robots
Center of Gravity	135	(1)
Six-Legged Walking Robot	136	(1)
Build the Base	137	(2)
Build One Leg Assembly	139	(3)
Attach' the Motor	142	(1)
Build the Second Leg Assembly	143	(3)
Attach the Motor to the RCX	146	(3)
Program, Feelers, and Eyes	149	(2)
Multi-Legged Robots That Can Turn
Two Ways to Change Direction on the Spot	151	(1)
Two Ways to Change Direction While Moving Forward	152	(1)
Mushi Mushi #5	153	(1)
Build the Motor Assembly and Frame	154	(8)
Build the Legs	162	(5)
Attach the Sensors	167	(3)
Build the Feelers	170	(6)
How Does Mushi Mushi #5 Move Forward	176	(1)
How the Middle Leg Moves	176	(1)
Controlling the Left and Right Legs	177	(1)
The Feeler Assembly	178	(1)
Further Experiments	178	(1)
The Mushi Mushi #5 Program	179	(1)
Program for RCX Code 1.5	179	(1)
Program for RCX Code 2.0	179	(3)
Troubleshooting	182	(1)
Design Tips: Walking Robots	182	(1)
Robot with A Grabbing Hand
The Theory	183	(1)
Using the RCX's Weight to Balance the Arm	183	(1)
Maintaining Position	184	(1)
The Hand and Wrist	184	(1)
Using Ribbed Tubing In Extend the Rotating Axle	184	(1)
Arm Joint	185	(1)
Building a Turntable	185	(2)
Build the Arm Joint and Fingers	187	(6)
Build and Attach the Turntable	193	(2)
Build the Arm	195	(4)
Attach the Motor, Wrist, and Fingers	199	(3)
Build the Base	202	(11)
Controlling Robot Arm #3	213	(1)
Visual Basic Program	213	(1)
The Robot Arm Controller Screen	213	(1)
Explanation of the Program	214	(1)
Going Farther	215	(2)
The Birth OF MIBO
Using Two RCXs	217	(1)
Plan 1	217	(1)
Plan 2	218	(1)
MIBO Fundamentals	219	(1)
Making MIBO Walk	219	(1)
Making MIBO Sit	220	(1)
Parts List	221	(2)
MIBO Assembly Instructions	223	(1)
Build One Hip and Shoulder	224	(7)
Build the Knee and Shoulder Controls	231	(4)
Build the Legs and Feet	235	(8)
Build the Second Side of Torso	243	(4)
Build the Neck	247	(2)
Build the Head	249	(8)
MIBO's Wiring	257	(1)
Collecting MIBO's Parts	258	(1)
Programming MIBO	258	(1)
Moving the Hind Legs: Explanation of Listing 1	258	(13)
Transporting MIBO	271	(1)
After MIBO	272	(1)
Handy Construction Tricks
Securing the RCX Vertically	273	(1)
Combining Gears	274	(9)
Reinforcing Caterpillar Tread Axles	283	(1)
Using Wheels to Build an Object with Radiating Spokes	283	(1)
Magnetic Clutch	283	(1)
Using the Three-Blade Rotor	284	(3)
PART 4: LEGO CAD SOFTWARE
MLCad
Prerequisites	287	(1)
Downloading	287	(1)
The MLCad Screen	287	(2)
Creating a Diagram	289	(1)
Getting Started	289	(1)
Using Subfiles	290	(1)
Copying and Pasting Objects	291	(1)
Rotating Parts	292	(3)
MLCad Tips	295	(1)
Work From a Physical LEGO Model	295	(1)
Use Wireframe Mode to Speed Up Display Time	295	(1)
Oblique Connections	295	(1)
Subfiles	295	(1)
Using Gears	295	(1)
Using a Part Repeateadly	295	(1)
Entering Comments in the Configuration List	296	(1)
Grouping Configuration List Entries	296	(1)
Changing the Color of Multiple Elements at One Time	296	(1)
Summary	296	(1)
L3P and L3PAO
L3PAO: Graphical Interface to L3P	297	(1)
Basic L3P Options	298	(1)
Placing the Camera	298	(4)
Placing Light	302	(1)
Enhancing Your Models	303	(4)
Outputting and Saving Files	307	(1)
Summary	307	(2)
POV-RAY
Installing POV-Ray	309	(1)
Basic Procedure	309	(1)
Selecting a Resolution	310	(1)
Creating Custom Resolutions	310	(1)
Saving an Image	311	(1)
Adding Textures with an Include File	312	(1)
Summary	313	(2)
Creating Assembly Diagrams
Required Software and Data	315	(1)
Assembly Diagram Example	316	(1)
Procedure for Creating Assembly Diagrams	317	(1)
Step 1: Creating the Substep Images	317	(1)
Step 2: Determining the Number of Substeps	318	(1)
Step 3: Creating the Completed Image	319	(1)
Step 4: Creating a Paris List for an Individual Page	319	(1)
Step 5: Combining Various Images	319	(1)
Summary	319	(2)
Collecting, Organizing, And Cleaning Parts
Collecting Parts	321	(1)
Colors	321	(1)
Types of Parts	322	(1)
Cost of Parts	322	(1)
Collecting Specific Parts	322	(1)
Organizing Parts	323	(1)
The Storage Case	323	(1)
Classification	324	(1)
Using Palettes when Building	324	(1)
Cleaning Your Parts	325	(1)
Cleaning Precautions	326	(1)
How to Wash LEGO Ports	326	(3)
A Byte Code Commands	329	(12)
B Robot Arm Controller Source Code	341	(10)
Index	351