Abstract: In three-dimensional five axis laser cutting of sheet metal parts, it is necessary to establish a machining coordinate system. Some sheet metal parts have complex features, and when the laser head returns to zero, the sheet metal part interferes with the laser head, making it difficult to establish a machining coordinate system. This article collects the coordinates of feature points corresponding to a certain angle of rotation of the laser head, and uses coordinate transformation to indirectly calculate the coordinate values corresponding to the laser head returning to zero, solving the problem of interference between the laser head and the workpiece and providing a new method for establishing the laser cutting coordinate system.

Key words: coordinate transformation; laser cutting; sheet meta; industrial robot

摘要： 钣金件在三维五轴激光切割过程中要进行加工坐标系的建立，而某些钣金件特征复杂， 在激光头回零时，钣金件与激光头干涉，加工坐标系建立困难。文章通过采集激光头旋转一 定角度对应特征点的坐标，利用坐标变换的方式，间接地计算出激光头回零时对应的坐标值， 解决激光头与工件干涉问题，为激光切割坐标系建立提供了一种新的方法。

关键词: 坐标变换；激光切割；钣金；工业机器人