The invention concerns a welding method, in particular an inert-gas-shielded arc-welding method, using a welding tool (3) which is moved by means of a manipulator (1) along a predetermined path. The location and/or time at which the heat energy is supplied to the welding area (13) is changed to suit the material and/or shape of the workpiece (4). This is preferably done by causing the welding tool (3) to execute a suitable periodic motion and/or by causing the process parameters to change periodically. In particular, the periodic changes in the process parameters are synchronized with at least one periodic welding-tool motion.
