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This paper designed a control system for welding curved structure workpieces. The control system contains the robot welding system and the positioner system. The SIEMENS PLC type S7-1200 controls the revolving of the positioner. Adjusting the output frequency of the inverter achieves the change of the revolving speed of the positioner. The external axis of KUKA robot controls the rotation of the positioner. The communication between robot and PLC and the teaching programming of robot can achieve the high efficiency and high quality of welding.