For some steps in your robot build, you will need a graphical look at your system. You can get this on your Raspberry Pi using an application called vncserver. You'll need to install a version of this on your Raspberry Pi by typing in
sudo apt-get install tightvncserver in a terminal window on your Raspberry Pi.
Tightvncserver is an application that will allow you to remotely view your complete graphical desktop. Once you have it installed, you can do the following:
vncserverin a terminal window on the Raspberry Pi.