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.

翻译：本文提出了一种动态力矩扰动观测器（DW-DOB），旨在实现接触密集型操作中高灵敏度的零力矩控制。通过将任务空间惯性嵌入观测器标称模型，DW-DOB 能够清晰地区分固有的动态响应与真实的外部力矩。这保留了对微小力和力矩的敏感性，同时确保了接触力矩的鲁棒调节。基于无源性的分析进一步表明，DW-DOB 保证了动态条件下的稳定交互，解决了传统观测器无法补偿惯性效应的缺陷。在工业公差（H7/h6）条件下的轴孔装配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，其性能优于传统的力矩扰动观测器和 PD 基线。这些结果突显了 DW-DOB 作为一种实用的免学习解决方案，适用于接触密集型任务中的高精度零力矩控制。