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DOFBOT Pro📖
1. Get started quickly
  • 0.Unboxing introduction video
  • 1. First Trial
  • 2. Analysis of common problems
  • 3. Calibration offset
  • 4. Jetpack old system upgraded to SUPER system
  • 5. Precautions for DIY Robotic Arm
  • 6. Jetson Nano Version – Must Read
  • 7.Robotic arm gripping anomaly solutions
2. Assembly course
  • 1. Installation video
  • 2. Calibrate the Robotic Arm
  • 3. Install the map
3. Remote control course
  • 1. Mobile APP control
  • 2. USB handle control
  • 3. PC web page programming
4. Preparation
  • 1. Manage APP control services
  • 2. Manage JupyterLab services
  • 3. Manage OLED services
  • 4. Modifying ROS_DOMAIN_ID for Multi-Machine
5. 2D visual tracking course
  • 1. Color block positioning
  • 2. Color block tracking
  • 3. Face positioning
  • 4. Face tracking
  • 5. Label code positioning
  • 6. Label code tracking
6. 2D visual grabbing course
  • 1. Identify grab color block
  • 2. Catch game
  • 3. Color sorting
  • 4. Color stacking
  • 5. Label code sorting
  • 6. Label code stacking
  • 7. Identify gesture grab color block
  • 8. Gesture stacking
  • 9.1 Single garbage sorting（Jetson-Nano）
  • 9.2 Single garbage sorting（Orin）
  • 10.1 Garbage sorting（Jetson-Nano）
  • 10.2 Garbage sorting（Orin）
  • 11. Tracking game
7. 2D Mediapipe course
  • 1. Hand detection
  • 2. Posture detection
  • 3. Overall detection
  • 4. Facial Detection
  • 5. Face Detection
  • 6. Face effects
  • 7. 3D Object Recognition
  • 8. Paintbrush
  • 9. Finger control
  • 10. Gesture Recognition
  • 11. Gesture control robotic arm action group
  • 12. Arm posture control robotic arm
  • 13. Palm Targeting
  • 14.1 Robotic arm tracks the palm（Jetson-Nano）
  • 14.2 Robotic arm tracks the palm（Orin）
  • 15. Fingertip trajectory recognition
  • 16. Fingertip trajectory control robotic arm
  • 17. Gesture Grasp and Release Objects
  • 18. Finger Control Robot Arm
8. AI Large Model Voice Module (Must Read)new
  • 1. Introduction to AI Large Model Voice Module
  • 2. Flash the firmware (Must read)
  • 3. Modify the wake-up word and command word
9. 2D Voice Control Course
  • 1.Simple Voice Control
  • 2.Smart Voice Control
  • 3.Voice Action Control
  • 4.Memory Learning Mode
  • 5.Color Recognition with Voice Broadcast
  • 6.Color Recognition and Grasping with Voice Broadcast
  • 7.Color Recognition and Sorting with Voice Broadcast
  • 8.Voice Recognition Target Tracking
  • 9.Voice Control Stacking
  • 10.Voice Control Color Sorting
  • 11.1 Garbage Recognition with Voice Broadcast（Jetson Nano）
  • 11.2 Garbage Recognition with Voice Broadcast（Orin）
  • 12.1 Garbage Sorting with Voice Broadcast（Jetson Nano）
  • 12.2 Garbage Sorting with Voice Broadcast（Orin）
10. 3D Depth Camera Course
  • 1. Dabai_DCW2 camera
  • 2. Deep Pseudo-Color Image
  • 3. Depth camera ranging
  • 4. Color block volume measurement
11. 3D Robotic Arm Control and Inverse Kinematics
  • 1. Robotic arm ROS control
  • 2. Inverse solution
12. 3D Sorting and Grasping Course
  • 1. AprilTag ID sorting
  • 2. AprilTag abnormal height sorting
  • 3. MediaPipe Gesture-AprilTag ID sorting
  • 4. MediaPipe Gesture-AprilTag height sorting
  • 5. MediaPipe Gesture-AprilTag distance sorting
  • 6. Block color sorting
  • 7. Block abnormal height sorting
  • 8. Block different shape sorting
  • 9. Block shape abnormal height sorting
  • 10. Yolov11 garbage sorting(Orin)
13. 3D Tracking and Grasping Course
  • 1. AprilTag Tracking and Grasping
  • 2. Color Block Tracking and Grasping
  • 3. KCF Object Tracking and Grasping
14. 3D Voice Control for Grasping Course (Sorting & Tracking)
  • 1. Voice Control AprilTag ID Sorting
  • 2. Voice Control Remove Height Abnormal AprilTag
  • 3. Voice Control Tracking and Grasping AprilTag
  • 4. Voice Control Color Block Sorting
  • 5. Voice Control Remove Height Abnormal Color Block
  • 6. Voice Control Tracking and Grasping Color Block
  • 7. Voice Control Yolov11 Garbage Recognition Sorting
  • 8. Voice Control Object Tracking and Grasping
15. AI Model Basicsnew
  • 1.AI large model types and principles
  • 2.RAG retrieval enhancement and model training samples
  • 3.Embodied intelligent robot system architecture
  • 4.Embodied intelligent functions core source code
16. AI Model Developmentnew
  • 1.Register a model service provider account
  • 2. Configure API-KEY
  • 3. Introduction to Dify
  • 4. Basic Dify Features
  • 5. Deploy the RAG knowledge base
  • 6. AI Large Model Development - chatbot
  • 7. RAG knowledge base + chatbot
  • 8. AI agent workflow
17. AI Model – Text Versionnew
  • 1. Semantic understand instruction following
  • 2. Multimodal visual understand
  • 3. Text Large Model + robotic arm control
  • 4. Multimodal Large Model+video understanding
  • 5. Multimodal Large Model+robotic arm gripping
  • 6. Multimodal Large Model+robotic arm tracking
  • 7. Multimodal Large Model+robotic arm sorting
  • 8. Multimodal Large Model+robotic arm handling
  • 9. Multimodal Large Model+Color Blocks Back In Place
  • 10. Multimodal Large Model + Intent Prediction + Robotic Arm Gripping
  • 11. Text Large Model + YOLOv11 + Intelligent Garbage Classification
18. AI Model – Voice Versionnew
  • 1. Semantic understand instruction following
  • 2. Multimodal visual understand
  • 3. Text Large Model + robotic arm control
  • 4. Multimodal Large Model+video understanding
  • 5. Multimodal Large Model+robotic arm gripping
  • 6. Multimodal Large Model+robotic arm tracking
  • 7. Multimodal Large Model+robotic arm sorting
  • 8. Multimodal Large Model+robotic arm handling
  • 9. Multimodal Large Model+Color Blocks Back In Place
  • 10. Multimodal Large Model + Intent Prediction + Robotic Arm Gripping
  • 11. Text Large Model + YOLOv11 + Intelligent Garbage Classification
19. AI Model – Fun Applicationsnew
  • 1.AI Butler-Intent Inference
  • 2.AI Encyclopedia-Arithmetic Master
  • 3.AI Encyclopedia-You asked I Pointed
  • 4.AI Encyclopedia-Nutritional Analysis
  • 5.AI Encyclopedia-Problem Solving Expert
  • 6.AI Encyclopedia-English Spelling
  • 7.AI Butler-Garbage Sorting
  • 8.AI Top Chef
20. MoveIt Course
  • 1. MoveIt Configuration
  • 2. MoveIt Usage
  • 3. MoveIt Drive Real Robot
  • 4. MoveIt Random Movement
  • 5. MoveIt Forward Kinematics Design
  • 6. MoveIt Inverse Kinematics Design
  • 7. MoveIt Cartesian Path
  • 8. MoveIt Scene Design
  • 9. MoveIt Trajectory Planning
  • 10. MoveIt Collision Detection
21. YOLOv11 Development Course (ORIN)
  • 1. YOLO Environment Setup
  • 2. CLI Usage
  • 3. Object Detection
  • 4. Instance Segmentation
  • 5. Pose Estimation
  • 6. Image Classification
  • 7. Oriented Bounding Boxes Object Detection
  • 8. Model Conversion
  • 9. Dataset Annotation
  • 10. Model Training_Conversion
  • 11. Model Prediction
22. YOLOv11 Development Course (Jetson Nano)
  • 1. YOLO Environment Setup
  • 2. CLI Usage
  • 3. Object Detection
  • 4. Instance Segmentation
  • 5. Pose Estimation
  • 6. Image Classification
  • 7. Oriented Bounding Boxes Object Detection
  • 8. Model Conversion
  • 9. Model Prediction
23. Linux Operating System
  • 1.Introduction to Linux system
  • 2.Ubuntu file system
  • 3.Ubuntu common commands
  • 4.Ubuntu common editors
  • 5.Ubuntu software operation commands
  • 6.Virtual machine installation
  • 7.SSH remote control
  • 8.VNC remote control
  • 9.Transfer files remotely
  • 10.Driver library and communication
  • 11.Static IP and hotspot mode
  • 12.Bind device ID
  • 13.Capacity expansion and resource allocation
  • 14.Update system software sources
  • 15.Set root user password
  • 16.sudo free password
  • 17.Connect to WiFi network
  • 18.View system version
  • 19.Customized service management
  • 20.Back up system image
24. Basic Control Course
  • 1. Control RGB Light
  • 2. Control Buzzer
  • 3. Control Single Servo
  • 4. Read Servo Angle
  • 5. Control All Servos
  • 6. DOFBOT Up Down Left Right Movement
  • 7.DOFBOT dancing
  • 8. DOFBOT Memory Actions
  • 9. DOFBOT Grab Blocks
  • 10. Porter
  • 11. Stack Blocks
  • 12. Two DOFBOT Synchronized Actions
25. Jetson Board Basic Course
  • 1. Jetson board Introduction
  • 2. Write system image
  • 3. Re-write system image
  • 4. System startup
  • 5. System and desktop introduction
  • 6. System expansion
  • 7. Network Configuration
  • 8. SSH remote login and file transfer
  • 9. VNC Remote Login
  • 10. System backup
  • 11. Increased swap space
  • 12. Use of Jtop
26. GPIO Hardware Control Course
Jetson Nano
  • 1.GPIO library API usage
  • 2. Hardware library configuration
  • 3. Pin reading function
  • 4. Pin level output control
  • 5. Control LED
  • 6. External device serial communication
  • 7.I2C communication
Jetson Orin Nano_NX
  • 1.GPIO description
  • 2.GPIO library installation
  • 3.GPIO reading
  • 4.GPIO output
  • 5.Serial communication
  • 6.I2C communication
27. OpenCV Course
  • 1. Introduction to Open Source CV
  • 2. Image reading and display
  • 3. Image writing
  • 4. Image quality
  • 5. Pixel Operation
  • 6. Image zoom
  • 7. Picture cut
  • 8. Picture pan
  • 9. Picture mirroring
  • 10. Affine transformation
  • 11. Picture rotation
  • 12. Perspective transformation
  • 13. Grayscale processing
  • 14. Binary image
  • 15. Edge green detection
  • 16. Line segment drawing
  • 17. Rectangular circle drawing
  • 18. Text and picture drawing
28. Visual Basics Course
  • 1. Camera display
  • 2. Color Calibration
  • 3. Color recognition
  • 4. Face Detection
  • 5.1 Garbage Identification（Jetson-Nano）
  • 5.2 Garbage Identification（Orin）
  • 6.1 Object Recognition（Jetson-Nano）
  • 6.2 Object Recognition（Orin）
  • 7. Label code recognition
  • 8.PID algorithm basics
29. ROS2 Basic Course
  • 1.Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 Topic Communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
30. Visual Advanced Course
  • 1.QR code
  • 2.Human pose estimation
  • 3.Target Detection
  • 4.AR vision
  • 5.ROS+Opencv basics
  • 6.AR QR code
  • 7.Face recognition
  • 8.harris corner detection
  • 9.Target tracking algorithm
  • 10.Contour moment
  • 11.Polygon outline
  • 12.Discrete fourier transform algorithm
  • 13.Edge detection algorithm
  • 14.Face detection algorithm
  • 15.Optical flow detection algorithm
  • 16.Contour detection
  • 17.General contour detection
  • 18.Feature point tracking
  • 19.HLS color filtering
  • 20.Hough circle detection
  • 21.Hough linear detection
  • 22.HSV color filtering
  • 23.LK optical flow algorithm
  • 24.detection algorithm
  • 25.Phase dependent displacement detection
  • 26.Image pyramid sampling algorithm
  • 27.RGB color filtering
  • 28.Clear background detection algorithm
  • 29.Simplified optical flow algorithm
  • 30.Simple filter
  • 31.Threshold image processing
  • 32.Watershed segmentation algorithm
31. Jupyter Lab Usage Course
  • 1. Read the document before operation
  • 2. Jupyter lab environment construction tutorial
  • 3. Basic tutorial of Jupyter lab
  • 4. Jupyter widgets configuration tutorial
  • 5. Getting Started Tutorial for JupyterWidgets Controls
Download
  • APP(Android/iOS)
  • SystemFile_OrinNANOSUPER
  • SystemFile_OrinNXSUPER
  • SystemFile_NANO4GB_SUB
  • VM_File
  • Code
  • Instruction_Manual
  • Hardware_Info
  • 3D_Model_File
  • ROS2_Basic_VM
  • Tools
Download ZIP

Welcome to DOFBOT Pro repository

4. Jetpack old system upgraded to SUPER system

Jetpack old system upgraded to SUPER system

Jetpack old system upgraded to SUPER system1、ReadMe2、Write SUPER boot file2.1、Connect hardware2.2、Connect VM software2.3、Write SUPER boot file3、Write Yahboom robot system file into SSD3.1、Format SSD3.1.1、Download DiskGenius3.1.2、Use DiskGeniusDelete partitionCreate a new partition3.2、Write Yahboom robot car system file3.2.1、Install Win32DiskImager3.2.2、Use Win32DiskImager4、SSD expansion4.1、Install GParted4.2、Use GParted4.3. Adjust partitions

1、ReadMe

If you purchased a Jetson ORIN NANO/Jetson ORIN NX board, and you want to turn it into a Jetson ORIN NANO SUPER or Jetson ORIN NX SUPER. Please read this tutorials carefully.

2、Write SUPER boot file

The purpose of this tutorial is to write SUPER boot to the Jetson Orin series board (for use with Jetpack 6.2 system).

The process of writing the boot file does not require the install SSD.

2.1、Connect hardware

1.Use a jumper cap to short-circuit the FC REC and GND pins under the core board. You don't need to remove the core board, the picture is just for a clearer observation

This diagram takes Jetson Orin Nano official version as an example, and users of other versions can refer to it for use (the hardware interface and functional layout are consistent)

2.The Jetson Orin board needs to be connected to a DC power adapter, DP data cable, and network cable. And connect it to the computer via a Type C data cable

Note: You don't need to connect the DP data cable and network cable when writing the boot, but they will be needed when using the motherboard later.

image-20250121195352195

2.2、Connect VM software

Users need to use the virtual machine file provided by Yahboom to write the SUPER boot file.

We need to connect the motherboard to the virtual machine so that it can be recognized by the Ubuntu system.

User name：yahboom
Password：yahboom

image-20250122104659911

image-20250122104757404

2.3、Write SUPER boot file

Open the terminal, enter the specified folder and run the script.

If writing fails, you can disconnect the motherboard power supply, reconnect the virtual machine to run the command, and try again

xxxxxxxxxx
cd ~/jetpack_6.2/Linux_for_Tegra && sudo ./yahboom_flash.sh.x

image-20250122104832985

image-20250122105606210

3、Write Yahboom robot system file into SSD

This tutorial allows you to write the system image file of the robot car SUPER (Jetpack6.2) provided by Yahboom to the SSD

Note: Users need to prepare the M.2 SSD Enclosure in advance, install the SSD into the M.2 SSD Enclosure, connect it to the computer, format it and write the new system image file.

3.1、Format SSD

Before writing the Yahboom robot car system image file, you need to format the solid-state drive into exFAT format.

3.1.1、Download DiskGenius

Download link：https://www.diskgenius.com/

image-20250110201003552

Unzip the downloaded compressed file and open DiskGenius.exe to use.

image-20250110201121200

3.1.2、Use DiskGenius

Delete partition

Deleting a partition will clear the disk data. Please confirm that the drive letter is the disk that needs to be formatted before confirming the operation.

You can judge based on the disk size and the newly added drive letter of the connected disk.

image-20250110201331658

image-20250110201403408

image-20250110201419269

image-20250110201432707

Create a new partition

Partition the SSD into exFAT format.

Select the drive letter corresponding to the SSD and click Quick Partition。

image-20250110201722505

Partition options: You can check as shown below

image-20250110201833715

image-20250110201833715

3.2、Write Yahboom robot car system file

You need to download the image system file in the tutorials in advance and decompress it to get the .img file. Download the system and decompress it locally.

3.2.1、Install Win32DiskImager

Download link：https://sourceforge.net/projects/win32diskimager/

image-20250110222239328

Open the win32diskimager-1.0.0-install.exe installation package as an administrator and accept the agreement.

image-20250110222209318

Installation location: Default location is recommended.

image-20250110222141639

Click " Install"

image-20250110222109847

image-20250110222041855

Click " Install"

image-20250110222017810

Complete the installation.

image-20250110221950093

3.2.2、Use Win32DiskImager

①: Select the factory image file (*.img) in the data

②: Select the drive letter corresponding to the SSD

③: Write the Yahboom system image to the SSD

image-20250110202003280

Click "Yes"

image-20250110202018758

wait it

image-20250110202439181

image-20250110203047627

After the system is written, you can close this software.

And install the SSD to the Jetson Orin board.

4、SSD expansion

This tutorial can be used to allocate the unallocated space of the solid state drive.

4.1、Install GParted

xxxxxxxxxx
sudo apt update
sudo apt install gparted -y

image-20250110203835949

4.2、Use GParted

Find the GParted application icon in the system application menu bar to open it or enter the following command in the terminal to start it.

xxxxxxxxxx
gparted

image-20250110203949546

4.3. Adjust partitions

Right-click the disk partition that needs to be expanded: generally select the largest partition on the disk

image-20250110203959602

You can adjust the partition size by sliding the slider to the right to maximize the space.

image-20250110204022401

Confirm the partition adjustment operation.

image-20250110204116310

image-20250110204133498

image-20250110204146422

image-20250110204155043

After the partitioning is completed, close the GParted software.

Calibration offset
Precautions for DIY Robotic Arm

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