A Complete Set of Physically Consistent Dynamics Parameters for the Universal Robots UR5e and UR10e

Complete, physically consistent dynamics parameters are required for forward dynamics simulation and model-based control methods that explicitly use a separated generalized mass matrix. Complete dynamics parameters are not provided by the manufacturer. The available CAD models contain neither closed surfaces (and thus no volumetric information) nor density information from which the required mass properties could be determined reliably. This paper reports complete reference parameter sets for the Universal Robots UR5e and UR10e using an established physically consistent identification approach. To obtain representative results, two UR5e and four UR10e robots are identified, and both robot-specific and averaged parameter sets are reported. The identified inertia parameters agree well among the robots, whereas the friction parameters vary. For the evaluated UR10e trajectory, the torque differences between the robot-specific and averaged models remain within approximately 5% of the maximum joint torques, supporting the use of the averaged sets as nominal reference parameters. A forward dynamics simulation further demonstrates the use of the complete parameter sets in model-based control. For the evaluated slow pick-and-place motion, the Coriolis and centrifugal torque contributions are sufficiently small to be neglected. The computational benefit is assessed separately: omitting these terms reduces the mean model evaluation time from 8.9 mu s to 3.3 mu s per sample. Although the averaged parameter sets provide useful nominal models, robot-specific friction identification may still be required depending on the specific task. Practical details relevant to reproducing the identification are also discussed. This paper should serve the robotics community as a reliable and representative reference for physically consistent dynamics parameters of the UR5e and UR10e robots.