A Fast Conversion Method of Tube Coordinates

Abstract

Inspired by the idea of the coordinate transformation of the robot arm, the tube structure is analogized to the robot arm structure, and the conversion method of the tube bend processing parameters LRA to the three-dimensional coordinate points is obtained. The method first regards the tube as a “mechanical arm”; then, using the similarity of the LRA processing parameters and D-H parameters, all the LRA parameters are converted into D-H parameters; finally, the D-H parameter method is applied to calculate the distance between each axis of the " mechanical arm ". If the first space coordinate point is defined as the origin of the base coordinate system , then the position of the origin of other coordinate systems in the base coordinate system can be obtained; It has been proved by experiments that this method fast and feasible.