Hello again,
let's start with ISO, it will help you. ISO is the equivalent of "volume" on your stero, it increases the gain on your sensor so even when light levels are low, the output will look bright. The tradeoff is that noise (sort of like grain on film, but less beautiful) will increase. With the kind of sensor you have, using a value up to 1600 should give good results, but test it to see what looks good to your eyes. A higher ISO value means more gain, each time you double the number, you double the gain. Look here for more information:
http://www.digicamhelp.com/camera-features/advanced-settings/iso/http://www.digicamhelp.com/camera-features/advanced-settings/iso/Now, about adjusting shutter speed and aperture... Three parameters work together to delivering a prope exposure : shutter speed, aperture and ISO. These three must be matched for an image to be properly exposed. So while it is worthwhile to set an appropriate shutter speed, and opening the aperture, if your shutter speed is too low for the ambiant light the image will still be dark. That is why I suggested A (aperture) mode. In that mode, the camera will calculate the proper shutter speed while you set the apeture (and ISO).
You have to understand that your lens is good, but might not be the best choice for indoors sports photography... a lens with a wider aperture would help you tremendously. A slolution could be to get nearer and "zoom" less. Your lens has a wider aperture when set at a wider angle.
I hope this makes things clearer.