Abstract: A method of welding plate joints during construction or repair of a structure. The method includes the steps of: (a) positioning a series of plates forming a structure component next to one another to form a series of joints for welding; (b) positioning a welding system on or adjacent to the series of plates, the welding system including a platform with an articulating welding arm positioned thereon, wherein the articulating arm comprises a welding head and a joint sensor; (c) directing the articulating arm with a controller to detect a first joint with the joint sensor; (d) beginning to weld the first joint; (e) adjusting the position of the welding head to track the weld joint based on data from the joint sensor; and (f) repositioning the articulating arm and positioning the welding head adjacent a second weld joint to begin welding the second joint.