# Discriminative feature learning using a multiscale convolutional capsule network from attitude data for fault diagnosis of industrial robots

> Research article (Mechanical Systems and Signal Processing, 2022) · cited 81× · AI/ML

**Wikidata**: [openalex:W4285676265](https://www.wikidata.org/wiki/openalex:W4285676265)  
**Source**: https://4ort.xyz/entity/discriminative-feature-learning-using-a-multiscale-convolutional-capsule-network-from-attitude-data-for-fault-diagnosis-