This article presents an experimental proposal for non-linear blank YAG welding with an industrial robot. First, we present the system. At the end of the robot, an actuator supports the focusing head and a 3D sensor. This system will allow correcting the trajectory before welding. The system is described. Then, we present the trajectory programming and the modifications made in order to control
... [Show full abstract] the focal spot and sensor position and orientation. Finally, we demonstrate the process by welding YAG cut blanks.