## 1 Introduction
addressed the theoretical model, focusing on its fine tuning with the goal of predicting the behavior of the cycloid unit in operation and improving the procedure of designing this unit [16]. In their paper, [PERSON] et al. [17] proposes a precise method of joint torque control with backlash compensation using information on the code on the side of the load application. The efficient use of encoder information on the side of the load application allows the proposed method to compensate for the rapid backlash effect. Based on the experimental analyses, the new backlash compensation model is proposed to solve the problems caused by the conventional backlash compensation model. In their study, the team of [PERSON] et al. [18] deal with the design of the accurate evaluation of cycloidal devices. The research focuses on the creation of a mathematical model of cycloidal equipment in which the areas of profile errors and cog thickness, spacing and jerking errors are tested. The profile points, measured by the coordinate measuring device, are divided into groups of cogs and then formulated as curves using the B-spline curve technique. Currently, the aim of much research is to significantly support the enhancement of their own development base, which ensures innovation and new product development. To a large extent, the expectations of the current industry from drive units is that the transmission of force effects be done with higher kinematic accuracy. The main part of such a unit is the reducer, generally referred to as a transmission mechanism, whose main function is the transformation of power quantities. They are designed to reduce the speed of the driving machine to the input speed of the driven machine at a constant transmission. High-precision reducers are based on several mechanical transmission principles:  
* Planetary mechanism--reducers with involute gearing. * Cycloidal mechanism--reducers with trochoidal gearing. * Harmonic mechanism--reducers with involute gearing. The manufacturers listed below belong to the world's leading manufacturers of high-precision reducers used in robotics and equipment requiring high-precision motion, each of which produces the following patented reducers:* Spinea--Slovak manufacturer of high-precision compact bearing reducers TwinSpin. Their global market share is about 3.3%. * Nabtesco--Japanese manufacturer of high precision reducers. Their share of the precision compact reducers market is 47%. * Sumitomo Cyklo--Japanese manufacturer of precision reducers. Their global market share for precision gearboxes is 11.7%. * Harmonic Drive--Japanese manufacturer of precision reducers. This company uses harmonic transmission in their gearboxes. Their share of the precision compact reducers market is 37.5%. * Other manufacturers of precision gearboxes with various transformer members share about 0.5% of the world market [19]. The paper delves into the research of the influence of the trial run of high-precision reducers on the change in their characterizing properties. As there is no exact trial run methodology for high-precision reducers, only individual manufacturers' recommendations, the research is focused on the influence of their short-term trial run of 48 h on the change in the important individual parameters.