T type joints, which often affect the quality of the whole structural parts, are widely used in the stiffened wall plate of large components. In view of the above problems, a dual-beam laser welding platform is built to meet the welding requirements of large size structural parts. Then, the ten-axis six-linkage CNC system is designed to meet the needs of both sides welding of T type joint at the same time. While controlling the position and attitude of the 3D welding, the welding seam measurement and tracking compensation on both sides of the T type joint are realized simultaneously. Through the actual welding experiment, the control system of dual-beam laser welding and seam tracking with ten-axis sixlinkage is tested and the result shows it can meet the processing requirements for T type joints.