As　the　core　component　of　robot　attitude　control,　robot　integrated　joint　has　a　direct　impact　on　the　performance　of　the　robot,　and　its　testing　and　evaluation　have　become　a　current　research　hotspot.　This　paper　systematically　analyzes　the　current　situation　of　joint　testing　equipment　from　the　aspects　of　test　scope,　accuracy,　and　function,　and　introduces　the　related　work　of　the　team　in　the　field　of　robot-integrated　joint　testing　in　detail.　At　the　same　time,　in　order　to　improve　the　informatization　and　intelligence　level　of　joint　testing,　an　integrated　joint　intelligent　testing　system　based　on　a　cloud　IOT　robot　is　constructed,　forming　a　new　mode　of　joint　Intelligent　Cloud　testing,　and　some　results　have　been　achieved　in　the　actual　test　application.　Finally,　the　technical　difficulties　and　development　trends　of　joint　testing　are　analyzed.　©　2023　IEEE.