The control system of a robot can be compared with that of a CNC machining centre. Both systems define the path of a tool by closed loop control of the drive system. It is thus presumed that it could be possible to utilise a robot to carry out a milling operation, which could preceed assembly. Initially it was necessary to define the forces involved in the simple milling operation to ensure that the structure of the robot would be rigid enough to support milling. Further to this a milling attachment had to be designed for the defined SCARA robot and tested. The resultant unit, was capable of milling, materials with low yield stress, up to a cutter diameter of 6mm, but was not capable of machining mild steel due to rigidity. The application of robotic milling, would be limited to small cuts, and cleaning type operations.