Programmable robot

A method of machining using a programmable robot, the method comprising, under instruction from a controller:

• in a first mode of operation:
• moving a probe by a carrier to a plurality of reference features in a template held in a first orientation by a jig;
• and
• determining a first set of coordinate data associated with the plurality of reference features by a position sensing arrangement in response to feedback via the probe interacting with the template at each reference feature location;
• and
• in a second mode of operation:
• returning the carrier to each position of the carrier corresponding to each reference feature location using the determined first set of coordinate data, and
• machining, using a tool, a first workpiece held in the first orientation based on a returned position of the carrier.

A method of machining an aircraft structure, the method comprising:

• mounting an artefact in a jig to provide a datum;
• determining, using a programmable robot, coordinate data of a plurality of reference features in the artefact and orientation information of the robot associated with each one of the plurality of reference features;
• replacing the artefact mounted in the jig with an aircraft structure according to the datum;
• re-orientating the robot based on the orientation information of the robot associated with each one of the plurality of reference features;
• and
• machining, using a tool, the aircraft structure at each location corresponding to each one of the plurality of reference features in the artefact.