Hm. Unfortunately, I've not played UC0081. I have, however, heard good things about it.
While I liked ACE:R, I've heard people say negative things about it - that it's a step back from ACE3, and since I haven't played that, I cannot comment either way. That said, I did enjoy the game. For someone like me, who cannot read Japanese, the games animated and voiced cutscenes are easier for me to follow than Super Robot Wars.
Unfortunately, I don't think that's quite as thorough an answer as could be found. I'm certain there are videos on Youtube, so perhaps you could take a look at a couple and see how things look?
It's enough that I'm wearing steel underpants right now. No cactus gonna assrape me today, not even by accident. -Dracoferret on... well, you know. Cacti.