该数据集主要用于工业机器人机电控感耦合模型的有效性验证，为工业机器人关键部件的故障诊断奠定基础。该数据集来源于自主搭建的独立关节试验台和广州数控设备有限公司的六自由度通用工业机器人的性能测试试验。在独立关节试验台上对正常、行星轮磨损和断齿RV减速器进行了整周回转测试，在六自由度通用工业机器人上对关节2的正常RV减速器进行了单向加减速运动测试。以上测试过程，收集了伺服电机的试验电流和仿真电流数据，其中试验电流数据的采样频率为6250Hz，仿真电流的采样频率为10kHz。

This data set is mainly used to verify the validity of the electromechanical coupling model of industrial robots and to lay the foundation for fault diagnosis of key components of industrial robots. The data set is derived from the independent joint test rig and the a six-degree-of-freedom general-purpose industrial robot from GSK CNC EQUIPMENT CO., LTD. The normal, planetary wheel wear and tooth broken RV reducers were tested in full circumferential rotation on the stand-alone joint test rig, and the normal RV gearbox of joint 2 was tested in unidirectional acceleration and deceleration motion on the six-degree-of-freedom general-purpose industrial robot. During the above tests, current data were collected form the servo motor, where the experiment current data was sampled at 6250Hz and the simulation current data was sampled at 10kHz.