Research on Fault Diagnosis Technology of Industrial Robot Operation Based on Deep Belief Network

Table 2

Robot fault description.

Fault description	Type 1 fault	Type 2 fault	Type 3 fault	Type 4 fault	Type 5 fault
Joint 1	0	1	1	1	1
Joint 2	0	0	1	1	1
Joint 3	0	0	0	1	1
Joint 4	0	0	0	0	1

Note. “0” means there is no fault at the joint; “1” means there is a fault at the joint.