Ammar Alzaydi

Accelerometer-in-the-loop safe learning control of mesh-order vibrations in cycloidal drives.

Cycloidal (RV-type) reducers are widely used in industrial robot joints due to their high torque density and low backlash, yet their multi-mesh transmission path produces structured, operating-point-dependent vibration components at the disc-mesh order and associated harmonics and sidebands. This paper presents a real-...