随着机器人故障的报道，争议产生了。
But controversy followed the robots after reported malfunctions.
更有谣言说画面中人只是机器人故障云云。
More rumors that the robot image is just human failure and so on.
并在此基础上，利用智能理论，建立一个基于层次的平面关节型机器人故障诊断智能系统。
On the basis of this foundation and utilizing intellectual theory an intellectual system for trouble diagnosis of planar joint typed robot was established based on layers.
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