Multidisciplinar laboratory for teaching mechatronics with LEGO Mindstorm NXT

Abstract

This paper describes a laboratory based on LEGO Mindstorm NXT. The objective is to introduce and increase the use of LEGO NXT at Universities, so the students could put together different knowledge that they had learnt. Computeraided design, mechanical modelling, system identification and multivariable control are some examples. In this paper, a LEGO Mindstorm NXT robot is used to illustrate this laboratory, but any other mechanic system can be built. The robot is able to keep balance on a sphere. It is very important not only to obtain a good model and control of the robot, but also carry out useful experiments for students. These objectives are achieved by using different computer tools like Solid Edge ST2, Matlab, Simulink, Real Time Windows Target and ECRobot libraries.