Automation the Welding Trajectory Control

The paper presents the results of the development and make-up of a system and program controlling the welding torch trajectory for automatic arc welding and surfacing in a shielded gas environment. The system is based on a typical bridge-type plasma cutting unit under the control of a typical control system according to ISO 6983-1: 2009. An universal trajectory of welding torch movement is proposed. This trajectory allows making a large number of varieties of welding seams due to flexible parameters setting. This welding complex allows welding in automatic mode, supports all the trajectories of movement of the welding gun recommended not only for automatic welding, but also for manual arc welding, has good repeatability of welding results and low cost. The work results can be used to modernize mechanized welding machines of other types (welding positioned, pipe welding machine, butt welding machine and others), as well as to control welding robots such as Kuka and others.