Method and device for machining a workpiece

A device for machining workpieces, the device comprising:

• a multiaxial manipulator with a control unit for movement control purposes and a tool, which for performing characteristic movements has a plurality of degrees of freedom, wherein the tool and a tool tip (TCP) are movement-controllable by the manipulator control unit during the machining of a workpiece;
• a memory unit associated with said control unit for storing at least one discretized sequence of coordinate values for a workpiece machining geometry;
• a determination unit for determining deviations for the coordinate values of the machining geometry corresponding to amplitudes of the characteristic movements of the tool;
• a determination means for the dynamic determination of a relative pose between the tool tip (TCP) and a sum of the coordinate values of the machining geometry and wherein the associated deviations and signals generated in the determination means can be transferred to the manipulator and the tool for coordinated movement control purposes.