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DOFBOT-Pi📖
00.Must Read Before Use!!
  • 00.Must Read Before Use!!
01.First Trial
  • 1.First Trial
  • 2.Analysis of common problems
  • 3.Calibration offset
  • 4.Precautions for DIY Robotic Arm
  • 5.Jetson Nano Version – Must Read
  • 6.Robotic arm gripping anomaly solutions
02.Assemble Course
  • 1.Installation video
  • 2.Calibrate the Robotic Arm
  • 3.Install the map
03.Remote control course
  • 1.Mobile APP control
  • 2.USB handle control
  • 3.PC web page programming
04.Preparation
  • 1.Manage APP control service
  • 2.Manage JupyterLab service
  • 3.Manage OLED service
  • 4.Modifying ROS_DOMAIN_ID for Multi-Machine
  • 5.Jetpack old system upgraded to SUPER system
05.Basic control course
  • 1.Control RGB light
  • 2.Control buzzer
  • 3.Control single servo
  • 4.Read servo angle
  • 5.Control all servo
  • 6.DOFBOT up down left right
  • 7.DOFBOT dancing
  • 8.DOFBOT memory action
  • 9.DOFBOT grab block
  • 10.Porter
  • 11.Stacked Arhat
  • 12.Synchronous action
  • 13.USB camera display
06.AI vision basic course
  • 1.Gesture Recognition
  • 2.Color threshold adjustment&Color calibration
  • 3.Color recognition
  • 4.Face recognition
  • 5.YOLOv11 garbage recognition
  • 6.YOLOv11 object recognition
07.2D Visual Tracking Course
  • 1.PID algorithm basics
  • 2.Color block positioning
  • 3.Color block tracking
  • 4.Face positioning
  • 5.Face tracking
  • 6.Gesture recognition fixed action
08.2D Visual Grasping Course
  • 1.Gesture recognition stack blocks
  • 2.Color recognition grab blocks
  • 3.Catch game
  • 4.Color sorting and stacking
  • 5.Garbage sorting
  • 6.Color interaction
09.Mediapipe course
  • 1.Hand detection
  • 02.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
10.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
11.2D Voice Control Coursenew
  • 01.Simple Voice Control
  • 02.Smart Voice Control
  • 03.Voice Action Control
  • 04.Memory Learning Mode
  • 05.Color Recognition with Voice Broadcast
  • 06.Color Recognition and Grasping with Voice Broadcast
  • 07.Color Recognition and Sorting with Voice Broadcast
  • 08.Voice Recognition Target Tracking
  • 09.Voice Control Stacking
  • 10.Voice Control Color Sorting and Stacking
  • 11.Garbage Recognition with Voice Broadcast
  • 12.Garbage Sorting with Voice Broadcast
12.Robotic Arm Control and Inverse Kinematics
  • 1. Robotic arm ROS control
  • 2. Inverse solution
13.3D Sorting and Grasping Coursenew
  • 1.AprilTag ID sorting
  • 2.MediaPipe Gesture-AprilTag ID sorting
  • 3.MediaPipe Gesture-AprilTag distance sorting
  • 4.Block color sorting
  • 5.Block different shape sorting
  • 6.Yolov11 garbage sorting
14.3D Tracking Coursenew
  • 1.AprilTag Tracking
  • 2.Color Block Tracking
  • 3.KCF Object Tracking
15.3D Voice Control for Sorting & Tracking Coursenew
  • 1.Voice Control AprilTag ID Sorting
  • 2.Voice Control Color Block Sorting
  • 3.Voice Control Yolov11 Garbage Recognition Sorting
  • 4.Voice Control AprilTag Tracking
  • 5.Voice Control Color Block Tracking
  • 6.Voice Control Object Tracking
16.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
17.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
18.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
19.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
20.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
21.MoveIt2 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
22.YOLOv11 Development Course
  • 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.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.GPIO Hardware Control Course
  • 1.GPIO description
  • 2.GPIO library installation
  • 3.GPIO reading
  • 4.GPIO output
  • 5.Serial communication
  • 6.I2C communication
25.OpenCV course
  • 0. Must Read!
  • 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
26.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
27. Advanced Visuals Course
  • 0. Must Read! Porting and Compilation
  • 1. QR Code
  • 2. Human Pose Estimation
  • 3. Object Detection
  • 4. AR Vision
  • 5. ROS + OpenCV Basics
28.Jupyter Lab Usage Course
  • 0.Read the document before operation
  • 1.Jupyter Lab environment construction
  • 2.Basic use of Jupyter Lab
  • 3.Jupyter Lab plug-in installation
  • 4.Basic use of Jupyter Widgets
29.Docker Course
  • 1.Docker overview and docker installation
  • 2.Common commands for docker image containers
  • 3.Docker images deeply understand and publish images
  • 4.Docker hardware interaction and data processing
  • 5.Start the Dofbot container
30.Python Programming Basics
  • 1.Python usage
  • 2.Use APT to install Python packages
  • 3.Python virtual environment
  • 4.GPIO Zero
  • 5.Pin output high and low levels
  • 6.Pin reads high and low levels
  • 7.Pin output PWM
Download
  • APP(iOS/Android)
  • Code
  • System Image
  • VM File
  • PC software
  • Instruction manual
  • More Annex
  • Tools
Download ZIP
FAQ
  • 1、Precautions for DIY Robotic Arm
  • 2、Where i can to check Raspberry Pi 4 Version tutorials?
  • 3、When you control the No.1 servo, all servos will turn.
  • 4、Dofbot start up process video
  • 5、Gesture recognition cannot work normally
  • 6、How to write image file into SD card
  • 7、How open VNC service on DOFBOT system
  • 8、Where can I get the URDF file?

Welcome to DOFBOT-Pi repository

7.DOFBOT dancing

Robotic Arm Dancing

I. Experimental Approach

    This experiment controls the robotic arm to dance by modifying the angles of different servos and adding delay times, thereby achieving a dancing effect similar to a robotic arm.

II. Start Docker

After entering the main board desktop, open a terminal and run the following command to start the corresponding Dofbot container:

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./Docker_Ros.sh

Then enter the following command in the Docker terminal to start jupyter-lab,

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cd
jupyter-lab --allow-root

Then enter the main board's IP address followed by :9999 in the browser,

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IP:9999         // Example: 192.168.1.11:9999

III. Code Content

Code path: /root/Dofbot/3.ctrl_Arm/7.dance.ipynb

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#!/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
# Robotic arm dancing loop
def main():
     # Reset servos 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
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del Arm # Release the Arm object

 

DOFBOT up down left right
DOFBOT memory action

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