the disclosure is directed to an apparatus and method for automated edge finishing using hybrid position / force control of an xy table . the disclosure is particularly directed to learning the trajectory of the edge of a workpiece by &# 34 ; guarded moves &# 34 ;. machining is done by controllably moving the xy table , with the workpiece mounted thereon , along the learned trajectory with feedback from a force sensor . other similar workpieces can be mounted , without a fixture on the xy table , located and the learned trajectory adjusted