Robotic saw and water jet control

A system for cutting a slab of material comprising:

• an industrial robot having a plurality of axes;
• an end effector coupled to a distal end of the industrial robot and including a saw cutting tool and a water jet cutting tool;
• an off-line tool path creation module further comprising:
• an initial tool path creation module, the initial tool path creation module configured to create an initial tool path,
• a kinematic singularity detection module, the kinematic singularity detection module configured to detect kinematic singularities,
• a first corrected sub-path creation module, wherein the first corrected sub-path creation module is configured to create a first corrected sub-path and further includes variations to the initial tool path that avoid kinematic singularities,
• a collision detection module, the collision detection module configured to detect collisions,
• a second corrected sub-path creation module wherein the second corrected sub-path creation module is configured to create a second corrected sib-path and further includes variations to the first corrected sub-path that avoid collisions;
• and
• a robotic controller configured to instruct the industrial robot to cut a slab of material according to the second corrected sub-paths.