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DOFBOT-Ultra📖
1. Get Started Quickly
  • 0.Unboxing Video
  • 1. Get Started Quickly
  • 2. Access the Terminal
  • 3. Calibration offset(Depth Camera)
  • 4. Calibration offset(USB Camera)
2. Assembly Course
  • 1. Installation Steps
  • 2. Calibrate the Robotic Arm
  • 3. Install the Map
3. Remote Control Course
  • 1. Mobile Phone Control
  • 2. USB Handle Control
  • 3. PC Web Page Programming
4. Preparation
  • 1. Manage Web control services
  • 2. Manage JupyterLab services
  • 3. Manage OLED services
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 Grasping Course
  • 1. Identify grab color block
  • 2. Catch game
  • 3. Color sorting
  • 4. Color stacking
  • 5. Label code sorting
  • 6. Label code stacking
  • 7. Gesture grasping color blocks
  • 8. Gesture stacking color blocks
  • 9. Single garbage sorting
  • 10. Garbage sorting
  • 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. Robotic arm tracks the palm
  • 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)
  • 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 Sorting
  • 11. Garbage Recognition with Voice Broadcast
  • 12. Garbage Sorting with Voice Broadcast
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. Yolov26 garbage sorting
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 Yolov26 Garbage Recognition Sorting
  • 8. Voice Control Object Tracking and Grasping
15. AI Model Basics
  • 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 Development
  • 0. DofbotUltra Large Model Development Quick Start Guide
  • 1. Register a Model Service Provider Account
  • 2. Configure API-KEY
  • 3. Introduction to Dify
  • 4. Basic Dify Features
  • 5. AI Large Model Development - chatbot
  • 6. Deploy the RAG knowledge base
  • 7. RAG knowledge base + chatbot
  • 8. AI agent workflow
17. AI Model – Text Version
  • 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 + YOLOv26 + Intelligent Garbage Classification
18. AI Model – Voice Version
  • 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 + YOLOv26 + Intelligent Garbage Classification
19. AI Model – Fun Applications
  • 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
PI 5
  • 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 and Conversion
  • 11. Model Prediction
RDK X5
  • 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 Prediction
  • 9. Model Conversion
22. YOLOv26 Development Course
PI 5
  • 6. Image Classification
  • 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 and Conversion
  • 11. Model Prediction
RDK X5
  • 1. YOLO Environment Setup
  • 2. CLI Usage
  • 3. Object Detection
  • 4. Instance Segmentation
  • 5. Pose Estimation
  • 7. Oriented Bounding Boxes Object Detection
  • 8. Model Conversion
  • 9. Dataset Annotation
  • 10. Model Training and Conversion
  • 11. 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.Capacity expansion and resource allocation
  • 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.RDKx5 Board Basic Course
  • 1.Introduction to RDK X5 board
  • 2.Write system file
  • 3.Hardware interface description
  • 4.Install case and other accessories
  • 5.Use 7-inch display
  • 6.SD card expansion
  • 7.Network configuration
  • 8.Remote login
  • 9.Update system
  • 10.srpi-config user guide
  • 11.config. txt configuration file
  • 12.Self-startup setting
  • 13.RDK exclusive command usage
  • 14.Linux command usage
  • 15.GPIO readwrite operation
  • 16.Image classification algorithm
  • 17.Use USB camera
  • 18.Use MIPI camera
  • 19.Binocular camera depth algorithm
26.PI5 Board Basic Course
  • 1.Introduction to Raspberry PI 5
  • 2.Raspberry PI system installation and backup
  • 3.Powering the Raspberry PI 5
  • 4.Startup of Raspberry PI 5
  • 5.Installation and introduction of shell and active radiator
  • 6.GPIO and 40-pin pins
  • 7.Tips for using Raspberry PI 5
  • 8.Raspberry PI PCIe connector
  • 9.MIPI CSI DSI connector
  • 10.UART connector
  • 11.Real-time clock
  • 12.Power over Ethernet (PoE) connector
  • 13.Update and upgrade operating system
  • 14.Introduction to raspi-config tool
  • 15.config.txt file description
  • 16.Network Configuration
  • 17.remote access
  • 18.Transfer files remotely
  • 19.Set display resolution and rotation
  • 20.Set screen to sleep
  • 21.Get real-time temperature of Raspberry Pi
  • 22.Play audio and video
  • 23.Using USB camera
  • 24.Using MIPI camera
27. Visual Basics 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 Detection
  • 16. Line Segment Drawing
  • 17. Rectangular Circle Drawing
  • 18. Text and Picture Drawing
28. 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
29. 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
  • System_File
  • VM_File
  • Instruction Manual
  • Code
  • Software Tools
  • Communication_Protocols
  • Hardware_Info
Download ZIP

Welcome to DOFBOT-Ultra repository

7. DOFBOT Dancing

DOFBOT Dancing

1. Experiment Overview

This experiment controls the robotic arm to dance. By modifying the angles of different servos and adding delay times, a dancing-like effect is achieved.

2. Code

Code path:

~/dofbot_ctrl/scripts/07.dance.ipynb
x
#!/usr/bin/env python3
#coding=utf-8
import time
from Arm_Lib import Arm_Device
# Create robotic arm object
Arm = Arm_Device()
time.sleep(.1)
time_1 = 500
time_2 = 1000
time_sleep = 0.5
x
​
def main():
       # Let the servos return to center position
    Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 500)
    time.sleep(1)
    times = 0.003
    while True:
        Arm.Arm_serial_servo_write(2, 180-120, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(3, 120, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(4, 60, time_1)
        time.sleep(time_sleep)
​
        Arm.Arm_serial_servo_write(2, 180-135, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(3, 135, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(4, 45, time_1)
        time.sleep(time_sleep)
​
        Arm.Arm_serial_servo_write(2, 180-120, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(3, 120, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(4, 60, time_1)
        time.sleep(time_sleep)
​
        Arm.Arm_serial_servo_write(2, 90, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(3, 90, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(time_sleep)
​
        Arm.Arm_serial_servo_write(2, 180-80, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(3, 80, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(4, 80, time_1)
        time.sleep(time_sleep)
​
​
​
        Arm.Arm_serial_servo_write(2, 180-60, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(3, 60, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(4, 60, time_1)
        time.sleep(time_sleep)
​
        Arm.Arm_serial_servo_write(2, 180-45, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(3, 45, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(4, 45, time_1)
        time.sleep(time_sleep)
​
        Arm.Arm_serial_servo_write(2, 90, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(3, 90, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(times)
        time.sleep(time_sleep)
​
​
​
        Arm.Arm_serial_servo_write(4, 20, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(6, 150, time_1)
        time.sleep(times)
        time.sleep(time_sleep)
​
        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(6, 90, time_1)
        time.sleep(time_sleep)
​
        Arm.Arm_serial_servo_write(4, 20, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(6, 150, time_1)
        time.sleep(time_sleep)
​
        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(6, 90, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(1, 0, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(5, 0, time_1)
        time.sleep(time_sleep)
​
​
​
        Arm.Arm_serial_servo_write(3, 180, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(4, 0, time_1)
        time.sleep(time_sleep)
​
        Arm.Arm_serial_servo_write(6, 180, time_1)
        time.sleep(time_sleep)
​
        Arm.Arm_serial_servo_write(6, 0, time_2)
        time.sleep(time_sleep)
​
​
​
        Arm.Arm_serial_servo_write(6, 90, time_2)
        time.sleep(times)
        Arm.Arm_serial_servo_write(1, 90, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(1, 90, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(5, 90, time_1)
        time.sleep(time_sleep)
​
        Arm.Arm_serial_servo_write(3, 90, time_1)
        time.sleep(times)
        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(time_sleep)
​
        print(" END OF LINE! ")
​
try :
    main()
except KeyboardInterrupt:
    print(" Program closed! ")
    pass
x
del Arm # Release the Arm object

Open the program file from Jupyter Lab and click the "Run All Cells" button on the Jupyter Lab toolbar. You will see the robotic arm perform a dancing motion.

To exit, click the stop button on the toolbar.

DOFBOT Up Down Left Right Movement
DOFBOT Memory Actions

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