Experimental Analysis and Comparison of Friction Models Applied to the UR5e Robot

In robotics, achieving precise and efficient dynamic modelling is paramount for the integration of robotic systems in diverse applications. A fundamental aspect influencing the dynamic behaviour of a robot is the effect of friction. In this paper we experimentally analyze and compare several friction models applied to the UR5e robot, leveraging only the data acquired from the robot real-time interface. The main objective is to provide a thorough assessment of each model performance, examining its ability to accurately represent the robot dynamics. This research contributes to the refinement of friction modelling for the UR5e, offering valuable insights for enhancing the accuracy of the whole dynamic model and its energy consumption prediction capabilities.