Whilst a robot based drilling solution offers many potential advantages over its cartesian based counterpart, its not without challenges. Particularly in aerospace applications, positional tolerances can be tight. This can be hard to achieve with large end-effectors and high dynamic forces acting to on the robot resulting in differences between the programmed drill location and what actually happens. This is exacerbated when large robots are used to counteract forces, combined with 7th axis rails to increase the working envelope, both of which further impact accuracy and consistency.