Robot control system and method based on memristor intersection array

A cross-array and control system technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of high complexity, slow response, high power consumption, and achieve the effect of reducing complexity, simplifying structure, and reducing power consumption

Active Publication Date: 2020-02-28
NANJING UNIV +1
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  • Abstract
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  • Application Information

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Problems solved by technology

[0007] Purpose of the invention: In order to overcome the deficiencies of the prior art, the present invention provides a robot control system based on a memristive cross array, which s

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  • Robot control system and method based on memristor intersection array
  • Robot control system and method based on memristor intersection array
  • Robot control system and method based on memristor intersection array

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Embodiment Construction

[0049] The robot control system based on the memristive cross array provided by the present invention includes a sensor group, an input sensing signal modulator, a neuromorphic circuit, an output control signal modulator, an output device, an external supervision module and a training controller, and the neuromorphic The circuit includes N sets of cascaded memristor circuits, and the memristor circuit includes a memristor cross array, a differential amplifier circuit, and a multiplexing switch, where N≥1, specifically:

[0050] Sensor groups, image, sound, temperature, pressure and other sensors complexly detect relevant information in the environment, and convert the corresponding physical quantities in the environment into electrical quantities; the sensors in this system can be any type and any number of sensors, optical , Electrical, pressure, temperature, sound sensors.

[0051] The input sensing signal modulator is used to amplify the electrical quantity transmitted by e...

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Abstract

The invention discloses a robot control system and method based on a memristor intersection array. The system involves a sensor group, an input sensing signal modulator, a neuromorphic circuit, an output control signal modulator, an output device, an external supervision module and a training controller; and control of a robot is performed by the neuromorphic circuit, and the main part of the neuromorphic circuit is the memristor intersection array with a fully connected neural network structure. A differential amplification circuit and a multiplexing switch in the neuromorphic circuit are connected to the memristor intersection array, an input signal vector is multiplied with a weight matrix stored in the memristor intersection array, and then one or more analog output signals are obtained through the differential amplification circuit. According to the robot control system and method, the memristor neuromorphic circuit is used for reducing the power consumption of an existing robot control system in performing neural network operation; and memristors are directly used for simulating the weight in a biological neural network, the complexity is effectively reduced, and the responsespeed is improved.

Description

technical field [0001] The invention relates to the field of automatic control of a memristive cross array, in particular to a robot control system and method based on a memristive cross array. Background technique [0002] The existing intelligent robot technology is a digital control circuit with a digital processor as the core in terms of hardware, and realizes intelligent applications based on various neural network algorithms in terms of software. As this kind of robot driven by neural network algorithm, it is required to have low power consumption and fast processing speed; on the current robot and other application platforms, relying on the existing digital control circuit to drive the neural network algorithm has brought severe problems to its hardware. challenge. [0003] At the software level of this type of intelligent robot, it includes complex information processing and a large number of calculations. Its information control flow proceeds as described below. ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/08
CPCB25J9/161B25J13/08B25J9/163B25J9/1664G06N3/065G06N3/09G06N3/063
Inventor 缪峰梁世军王聪杨再正
Owner NANJING UNIV
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