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Simulink Helps PNNL Create Vibration-Free Robotic Control System

Simulink Helps PNNL Create Vibration-Free Robotic Control System

MathWorks
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Richland, Washington–based Pacific Northwest National Laboratory (PNNL) was contracted by the U.S. Department of Energy to develop a robotic arm to break up sediment in nuclear waste. The waste was stored in tanks 40 feet underground. Because access was limited to a 42-inch hole in the top of the tank, the movable end of the robotic arm had to be long and thin, with relatively flexible links and low natu- ral frequencies. This design mad

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