Case Study: Pacific Northwest National Laboratory achieves vibration-free robotic control with MathWorks (MATLAB and Simulink)

Simulink Helps PNNL Create Vibration-Free Robotic Control System

Pacific Northwest National Laboratory (PNNL) was tasked by the U.S. Department of Energy to develop a long, flexible robotic arm to break up nuclear-waste sediment through a narrow access hole—a 30-foot‑long design that was highly prone to oscillation and vibration. To address the complex, nonlinear dynamics and avoid years of physical testing, PNNL turned to MathWorks tools, notably MATLAB and Simulink, to model and evaluate control strategies.

Using MathWorks’ MATLAB and Simulink (integrated with DADS for detailed mechanics), PNNL built a comprehensive dynamic model, derived linearized control‑design models, and optimized actuator commands to cancel oscillations. The MathWorks-based simulations delivered realistic, time‑saving results, rapid and accurate feedback on controller performance, and reliable measurements that closely matched prototype tests—achieving the required vibration damping, stability, and robustness.

Pacific Northwest National Laboratory

Carl Baker

Pacific Northwest National Laboratory