Automated workpiece machining based on sensed forces between a tool and a surface of a workpiece

A method for machining a workpiece using an industrial robot, the method comprising:

• a) obtaining an image of said workpiece;
• b) determining an initial path along a contour of said workpiece, said initial path being based on an estimated location of a surface of said contour of said workpiece, wherein a followed path initially conforms to said initial path, said followed path being a path to be followed by said robot with a machine tool along a contour of said workpiece to thereby machine said workpiece;
• c) receiving a force reading from a force sensor coupled to said machine tool, said force reading being an indication of a force exerted by said machine tool on said workpiece as said machine tool follows said surface of said contour of said workpiece;
• d) adjusting said followed path for said machine tool based on said force reading;
• e) repeating steps c) and d) as said machine tool traverses said contour.