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 cutting tool attached to an arm of a multi joint robot having a cantilever structure, the composite material or the honeycomb structure being processed with the cutting tool along a shape of a jig for setting the composite material or the honeycomb structure, the composite material or the honeycomb structure being processed by contacting a guide with the jig, the guide being attached to a casing of the cutting tool, the cutting tool being a saw wherein a force applied on the guide from the jig is measured by a sensor, and feedback control of the robot is performed to make the force applied on the guide from the jig constant.

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, the cutting tool being a saw, and

• 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 feedback control of the robot is performed to make the force applied on the guide from the jig constant.