MOBILE WELDING ROBOT WITH REMOTE CENTER OF MOTION

The disclosure regards a welding robot for performing welding operations when engaged by a positioning arm; the welding robot comprising, a robot arm configured for being connected to the positioning arm at a mounting point, a welding gun connected to the robot arm, wherein an at least first remote center of motion is defined by a point on a kinematic chain along the robot arm and the positioning arm. The welding robot is configured to continuously monitor the at least first remote center of motion and a tool center point of the welding gun during operation of the welding gun.