Welding robots are industrial robots engaged in welding (including cutting and spraying). According to the International Organization for Standardization (ISO) definition of a standard welding robot, an industrial robot is a multi-purpose, reprogrammable automatic control manipulator (Manipulator) with three or more programmable axes for Industrial automation field. In order to adapt to different uses, the mechanical interface of the last axis of the robot is usually a connecting flange, which can be connected to different tools or end effectors. Welding robots attach welding tongs or welding (cutting) guns to the final shaft flange of industrial robots to enable welding, cutting or thermal spraying.