无需学习即可实现高精度零力控，提升插孔装配的稳定性和精度。
Zero Wrench Control via Wrench Disturbance Observer for Learning-free Peg-in-hole Assembly
- 通过嵌入任务空间惯性，分离内部动力学与外部受力，提升小力敏感度。
- 在工业公差（H7/h6）下实现更深、更柔顺的插孔，残余力矩极小。
- 适合高精度接触操作，无需训练，适用于机器人装配等场景。
本文提出一种动态力矩干扰观测器（DW-DOB），用于在接触密集操作中实现高灵敏度的零力控。通过将任务空间惯性嵌入观测器的名义模型，DW-DOB能够清晰分离内在动力学响应与真实的外部力矩，从而在保持对微小力和力矩敏感的同时，确保接触力矩的鲁棒调节。基于无源性的分析进一步证明，该方法在动态条件下仍能保证交互稳定性，克服了传统观测器无法补偿惯性效应的缺陷。在工业公差（H7/h6）下的插孔实验验证了该方法的有效性，实现了更深、更柔顺的插入，残余力矩极小，显著优于传统的力矩干扰观测器和PD控制基线。结果表明，DW-DOB是一种实用的免学习高精度零力控解决方案，适用于接触密集任务。
原文摘要 · Abstract (English)
This paper proposes a Dynamic Wrench Disturbance Observer (DW-DOB) designed to achieve highly sensitive zero-wrench control in contact-rich manipulation. By embedding task-space inertia into the observer nominal model, DW-DOB cleanly separates intrinsic dynamic reactions from true external wrenches. This preserves sensitivity to small forces and moments while ensuring robust regulation of contact wrenches. A passivity-based analysis further demonstrates that DW-DOB guarantees stable interactions under dynamic conditions, addressing the shortcomings of conventional observers that fail to compensate for inertial effects. Peg-in-hole experiments at industrial tolerances (H7/h6) validate the approach, yielding deeper and more compliant insertions with minimal residual wrenches and outperforming a conventional wrench disturbance observer and a PD baseline. These results highlight DW-DOB as a practical learning-free solution for high-precision zero-wrench control in contact-rich tasks.
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