A Conversion Method Between Arm Coordinate System and Laser Coordinate System for Demolition Robot

According to the conversion principle for two space rectangular coordinates, a conversion model was simplified between the robot coordinate system and the laser coordinate system. On the basis of the simplified model, a method for transforming two space right angle coordinates was proposed based on the space vector algorithm. An installation and calibration experiment of the laser coordinate system was performed. By maintaining the level of the corresponding axes of the two coordinates, the coordinate rotation of X and Y axes were limited. Moreover, through adjusting the installation angle of the laser range finder, the rotation around Z axis was limited so as to ensure the corresponding two axes are parallel to each other. An experimental model of conversion measurement accuracy of the two coordinate systems was established. Based on the measured data, the coordinates of G₁ point, representing the hydraulic hammer's hammerpick, and the strike point G₂, and the vectors of G₁G₂ and G'₁G'₂ were calculated in the two coordinate systems. The results show that norms of the two vectors are substantially equal, and the deviation of directivity of the two vectors is small. It is verified that the vector method for transforming the two coordinate systems is feasible, the method has a good applicability in engineering.