Machining apparatus and machining method

A machining method, wherein a machined product is manufactured by processing a composite material or a honeycomb structure with a machine assembly comprising a multi-joint robot with a cantilever arm, the cantilever arm comprising an attachment end configured for attachment to a cutting tool, the composite material or the honeycomb structure being processed by contacting a guide with a jig for setting the composite material or the honeycomb structure, the guide being attached to a casing of the cutting tool as to extend from the casing into contact with the jig, and with the casing extending, in multi-joint robot support sequence, between the guide and the attachment end of the cantilever arm, the cutting tool being a saw,

• wherein the machining method includes controlled movement of the attachment end of the cantilever arm of the robot such that the attachment end, with attached cutting tool, is adjustable in three dimensional space while the cutting tool is cutting, and wherein a force applied on the guide from the jig is measured by a sensor, and a feedback control of the robot is performed to make the force applied on the guide from the jig constant, and wherein the machining method satisfies a tolerance accuracy in the cutting tool machined product of +1.0 mm, and
• wherein the feedback control of the robot comprises a control circuit that is configured to receive force values that are applied on the guide from the jig as measured by the sensor, and the feedback control of the robot is configured to achieve a constant force application by directing the force being applied on the guide from the jig to be constant, wherein the constant force application is utilized in providing tolerance accuracy in the cutting tool machined product.