Fault Diagnosis Method for Industrial Robots Based on DBN Joint Information Fusion Technology

Table 1

Joint bearing data and category labels.

Fault location	Degree of failure	Depth of failure (inch)	Training set samples	Training set samples	Failure tags
Fault-free	No	0	84	36	0
Outer ring	Minor	0.004	84	36	1
	Moderate	0.008	84	36	2
	Severe	0.012	84	36	3
Inner ring	Minor	0.004	84	36	4
	Moderate	0.008	84	36	5
	Severe	0.012	84	36	6