For the inverse calculation of laser-guided demolition robot, its global nonlinear mapping model from laser measuring point to joint cylinder stroke has been set up with an artificial neural network. Due to the contradiction between population diversity and convergence rate in the optimization of complex neural networks by using differential evolution, a gravitational search algorithm and differential evolution is proposed to accelerate the convergence rate of differential evolution population driven by gravity. Gravitational search algorithm and differential evolution is applied to optimize the inverse calculation neural network mapping model of demolition robot, and the algorithm simulation shows that gravity can effectively regulate the convergence process of differential evolution population. Compared with the standard differential evolution, the convergence speed and accuracy of gravitational search algorithm and differential evolution are significantly improved, which has better optimization stability. The calculation results show that the output accuracy of this gravitational and differential evolution neural network can meet the calculation requirements of the positioning control of demolition robot’s manipulator. The optimization using gravitational search algorithm and differential evolution is done with the connection weights of a neural network in this article, and as similar techniques can be applied to the other hyperparameter optimization problem. Moreover, such an inverse calculation method can provide a reference for the autonomous positioning of large hydraulic series manipulator, so as to improve the robotization level of construction machinery.

中文翻译：

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基于引力搜索算法和差分进化神经网络的拆迁机器人逆计算

针对激光制导拆除机器人的逆计算，利用人工神经网络建立了其激光测点到关节缸行程的全局非线性映射模型。针对利用差分进化优化复杂神经网络时种群多样性与收敛速度之间的矛盾，提出了一种引力搜索算法和差分进化算法，以加快引力驱动差分进化种群的收敛速度。应用引力搜索算法和差分进化优化拆迁机器人逆向计算神经网络映射模型，算法仿真表明重力可以有效调节差分进化种群的收敛过程。与标准差分进化相比，引力搜索算法和差分进化算法的收敛速度和精度得到显着提升，优化稳定性更好。计算结果表明，该重力微分进化神经网络的输出精度能够满足拆除机器人机械手定位控制的计算要求。本文中使用引力搜索算法和差分进化的优化是通过神经网络的连接权重完成的，类似的技术可以应用于其他超参数优化问题。而且，这种逆计算方法可以为大型液压串联机械手的自主定位提供参考，从而提高工程机械的机器人化水平。