Rodeck, RebeccaRebeccaRodeckSchüppstuhl, ThorstenThorstenSchüppstuhl2020-05-052020-05-05201647th International Symposium on Robotics, ISR 2016 : 660-666 (2016)http://hdl.handle.net/11420/6035A new kind of semi-automatic human-machine system is introduced that supports the human operator in machining scarf profiles for the preparation of the repair of CFRP structures. The system consists of only three axes: two axes that span the x,y-plane over the damaged surface and that are moved by the operator and only one automatic axis that adjusts the infeed for the milling proceb depending on the position in the x,y-plane. The machine concept and the kinematic configuration are introduced. A solution to one of the specific problems arising from this new type of system, the following error, as well as first milling experiments are presented. Finally, a brief conclusion and future research topics are given.enTechnikConference PaperOther