Assurance of the electron beam positioning accuracy at electron beam welding

The control algorithm of a manipulator output member positioning process is given in the paper for path following based on the developed mathematical model of accounting the kinematic and dynamical characteristics of manipulators included into an automatic electron beam production complex (AEBPC). The feature of the model is accounting the electron beam (EB) deviation from the ideal position based on manipulators errors. Inclusion of the simulation results into the control model of electron beam welding process will allow increasing the quality of weld joints.