A method of controlling a laser machining system , the laser machining system including: a robot with a laser cutting head having a plurality of degrees of freedom of motion at least in a two-dimensional plane; and a laser oscillation device configured to transmit laser light to the laser cutting head , the laser machining system being configured to cut a target object into a desired cutting shape by moving the laser cutting head , the method comprising: a starting step of moving the laser cutting head along an arc-shaped path to cause laser light irradiation to move from an operation start point (RS, AS) to a target-path-cutting start point (SP), the operation start point (RS, AS) being determined with reference to a base point (BP) on a coordinate plane that defines the cutting shape, the target-path-cutting start point (SP) being located along the cutting shape; a cutting step of moving the laser cutting head to cause laser light irradiation to move from the target-path-cutting start point (SP) to a target-path-cutting end point (EP) located along the cutting shape; and a finishing step of moving the laser cutting head along an arc-shaped path to cause laser light irradiation to move from the target-path operation end point (EP) to an operation end point (RE, AE) determined with reference to the base point (BP); characterized in that the operation start point (RS, AS) and the operation end point (RE, AE) are determined individually based on a distance from the base point (BP) and an angle from a base line (BL) connecting the target-path-cutting start point (SP) and the base point (BP), and selectively determined to be inside or outside the cutting shape; and in the starting step, the laser cutting head is accelerated and then decelerated in a direction along a line segment (BL) connecting the base point (BP) and the target-path-cutting start point (SP), and is accelerated in a direction toward the line segment (BL) connecting the base point (BP) and the target-path-cutting start point (SP). a robot with a laser cutting head having a plurality of degrees of freedom of motion at least in a two-dimensional plane; and a laser oscillation device configured to transmit laser light to the laser cutting head , the laser machining system being configured to cut a target object into a desired cutting shape by moving the laser cutting head , the method comprising: a starting step of moving the laser cutting head along an arc-shaped path to cause laser light irradiation to move from an operation start point (RS, AS) to a target-path-cutting start point (SP), the operation start point (RS, AS) being determined with reference to a base point (BP) on a coordinate plane that defines the cutting shape, the target-path-cutting start point (SP) being located along the cutting shape; a cutting step of moving the laser cutting head to cause laser light irradiation to move from the target-path-cutting start point (SP) to a target-path-cutting end point (EP) located along the cutting shape; and a finishing step of moving the laser cutting head along an arc-shaped path to cause laser light irradiation to move from the target-path operation end point (EP) to an operation end point (RE, AE) determined with reference to the base point (BP); <EOS>