Robotic welding system

An apparatus comprising:

• a repositionable support structure;
• and
• a collaborative robotic welding system attached to the repositionable support structure, the collaborative robotic welding system comprising a supporting arm, a welding arm comprising a torch holder shaft for mounting a welding torch, a plurality of rotary actuators for moving the supporting arm, the welding arm and the torch holder shaft, wherein the plurality of rotary actuators consist of a yaw rotary actuator rotatable about a yaw axis, a pitch rotary actuator rotatable about a pitch axis, and a roll rotary actuator rotatable about a roll axis, a safety encoder associated with the pitch rotary actuator and mounted on or near an axle of the welding arm, and a controller operably coupled to the plurality of rotary actuators and the at least one safety encoder and configured to control motion of the robotic system while limiting a force applied by the pitch rotary actuator,
• wherein the collaborative robotic welding system has only three degrees of freedom, namely a first degree of freedom about the yaw axis, a second degree of freedom about the pitch axis, and a third degree of freedom about the roll axis, and wherein the controller is configured to control motion of the torch holder shaft to cause a welding torch to execute a multiple pass spool welding pattern using only the three degrees of freedom.