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Welding parameters for pipe joint friction stir welding (FSW) have been identified based on L-9 orthogonal arrays used in the Taguchi Method. Different welding parameters, such as rotation speed, travel speed and axial force, have been used to produce several quality friction stir welded AA6063 pipe butt joints. The reliability of products obtained in the FSW process can be improved through the identification of the optimum combination of welding parameters. Weld quality was evaluated based on its tensile strength and residual stress profiles. The S/N analysis and Analysis of Variance (ANOVA) have been used to determine significant welding parameters that affect weld quality. Maximum tensile strength with acceptable residual stress was obtained at the optimum welding parameters of 1300 rpm, 5 mm/s and axial force between 5 and 6 kN. The goal of this study was to optimize welding parameters for high tensile strength and low residual stress.