Questioning myself on "Redistribution"

The more I think about it, the more I feel uncomfortable about it: The Redistribution of wealth in a Welfare State. What else is Redistribution than A, B, and C deciding ("voting") to rob ("tax") D and E in order to offer the prey to ("subsidize") F? Some may wonder why I am putting the question that straight forward, but it has been on my mind for quite some time now. On the one hand, taxing income in order to "redistribute" it is pure legalized robbery, no doubt about it. It is therefore highly immoral. On the other side, I also feel uncomfortable not to approve it, since I still think that any other outcome (with no redistribution at all) would be unacceptable with regard to the human consequences. A minimum of redistribution seems unavoidable in the world we're living in. Or would there be other, better means? Thanks for disabusing me. english / Economics / Politique / Legal