At the castle, you can climb up on the right side to reach the giant crossbow.
It is used to reach the otherwise unreachable Princess tower on the left side of the castle. Tie the rope (from the mill) to an arrow and shoot it up and left. (You get more than one try.) If you hit the door of the Princess tower, you can walk across the tightrope to it.
(see related question)
To reach the left-side tower of the castle (the Princess room), you need to use the rope from the Mill. Tie it to the arrow on the giant crossbow and shoot it left and up to hit the tower door. (You get many tries.)
Get the rope from the right side of the Mill and tie it to one of the big arrows on the giant crossbow. Aim up and left and you can hit the door of the unreachable tower. (The Princess has a note there that lets you look under the bed at the Mordred Museum.)
When you have all three knights with you, they suggest you look for a giant asteroid, which happens to be at X-11 Y-82 in the Asteroid Belt.
Nothing. When you defeat the giant robot, you take the Orb back to Arturus and Mordred is left behind in his castle. You receive the island medallion.
On a giant asteroid in the asteroid belt.
When you have all three knights but can't find the Princess, the knights suggest you look for a fabled "giant asteroid". There is one in the Asteroid Belt near X-11, Y-82.
just drive through and find it
Travel to the giant asteroid at X-11 Y-82 to battle the Bard and save the Princess. You will need all three knights to pull the Golden Key and reach the other galaxy.
The giant asteroid is at X-11 Y-84, but you can only remove the Golden Key when you have beaten all three planets and have all three space knights with you.
The Princess's Maid's room has the secret message and the mouse. It is on the first floor of the castle, to the left. The Princess has a room in the tower that is now unreachable. Get the rope from the windmill's water wheel and tie it to one of the big arrows on the giant crossbow. Shoot it up and left and you can hit the tower door.
When you have beaten all three planets and have all 3 knights with you, travel to the giant asteroid at X-11 Y-84 in the asteroid belt. There you can pull out the Golden Key and enter the realm of the Binary Bard.
The three knights suggest that the Binary Bard is hiding on a "giant asteroid", and since there is an asteroid belt, you should look there. The actual coordinates are X-11 Y-82.