I use the free and open source MeshLab (see http://meshlab.sourceforge.net) to convert from Collada into OBJ format - I'm really looking forward to having animations supported in the near future as my game needs these.
MeshLab is pretty good and can import models in PLY, STL, OFF, OBJ, 3DS, COLLADA, PTX, V3D, PTS, APTS, XYZ, GTS, TRI, ASC, X3D, X3DV, VRML, ALN formats and export them into PLY, STL, OFF, OBJ, 3DS, COLLADA, VRML, DXF, GTS, U3D, IDTF, X3D
"The difference between stupidity and genius is that genius has its limits" - Albert Einstein