Zero Wrench Control via Wrench Disturbance Observer for Learning-free Peg-in-hole Assembly
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866917190534430720 |
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| author | Choi, Kiyoung Jeong, Juwon Oh, Sehoon |
| author_facet | Choi, Kiyoung Jeong, Juwon Oh, Sehoon |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_04881 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Zero Wrench Control via Wrench Disturbance Observer for Learning-free Peg-in-hole Assembly Choi, Kiyoung Jeong, Juwon Oh, Sehoon Robotics 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. |
| title | Zero Wrench Control via Wrench Disturbance Observer for Learning-free Peg-in-hole Assembly |
| topic | Robotics |
| url | https://arxiv.org/abs/2601.04881 |