1. Method of continuously controlling and tracking a position of a welding torch and a welding head relative to a weld seam to be produced on a workpiece, whereby the welding torch, spaced at a distance apart from a workpiece and the weld seam, effects a pendulum motion which is superimposed on its linear welding motion, during which state variables, in particular an ohmic resistance or a current and/or a voltage, are detected as they vary in time, the lateral deviation of the welding torch from the weld seam, in particular from the welding line centre, and/or the height of the welding torch above the workpiece and weld seam being derived from the detected actual values and signals in order to control and track the position of the welding torch, characterised in that the process-dependent actual values are evaluated by the control system of the welding device or at least one other control system in the welding device, whereupon the control system transmits at least one or more correction value(s) relating to the position of the welding torch to a device or system connected to the welding device, in particular a welding robot or a robot system.