Abstract: Disclosed herein are systems and methods for controlling an industrial robot. The system can include an industrial robot having a plurality of axes and a saw and water jet end effector. The system can also include an off-line program for controlling the industrial robot. The off-line program can include creating a tool path based on a prescribed cut pattern, then analyzing the tool path for kinematic singularity occurrences. If a kinematic singularity is found, it is avoided by creating corrected sub-paths. The corrected sub-path is then reanalyzed for kinematic singularity occurrences and corrected if needed. The tool path is then analyzed for collisions that occur between cutting motion segments, and avoiding those collisions by creating new paths of travel between cutting motion segments. Once the corrected sub-path is complete, the system includes translating and sending the corrected sub-path to the industrial robot.