A processing apparatus comprising: an articulated robot having an arm distal-end portion to which a processing tool and a shape measurement unit are attached; comprising: a processing-point-information generation unit that is configured to generate processing-point information indicating a processing point which is a movement point of the arm distal-end portion to perform specified processing on workpiece using the processing tool; and a workpiece-processing control unit that is configured to move the arm distal-end portion to the processing point based on the processing-point information to perform the specified processing on the workpiece using the processing tool, wherein the specified processing is partial processing for processing a part of the workpiece, the processing apparatus comprises a processing-target-portion-information generation unit that is configured to measure the shape of the workpiece using the shape measurement unit to recognize a position of a portion to be processed of the workpiece and, based on the position of the portion to be processed, that is configured to generate processing-target-portion information, the processing tool is a cutting tool having a cutting edge portion configured to be positioned at a root portion of a burr of the workpiece and a profiling portion not having a cutting edge and configured to be positioned at a profiled surface portion of the workpiece, the processing-target-portion-information generation unit, when measuring the shape of the workpiece, is configured to recognize a tilt of the profiled surface portion relative to a specified reference surface, and the workpiece-processing control unit is configured to control, according to the tilt of the profiled surface portion, an orientation of the processing tool at a time of performing deburring processing. a processing-point-information generation unit that is configured to generate processing-point information indicating a processing point which is a movement point of the arm distal-end portion to perform specified processing on workpiece using the processing tool; and a workpiece-processing control unit that is configured to move the arm distal-end portion to the processing point based on the processing-point information to perform the specified processing on the workpiece using the processing tool, wherein the specified processing is partial processing for processing a part of the workpiece, the processing apparatus comprises a processing-target-portion-information generation unit that is configured to measure the shape of the workpiece using the shape measurement unit to recognize a position of a portion to be processed of the workpiece and, based on the position of the portion to be processed, that is configured to generate processing-target-portion information, the processing tool is a cutting tool having a cutting edge portion configured to be positioned at a root portion of a burr of the workpiece and a profiling portion not having a cutting edge and configured to be positioned at a profiled surface portion of the workpiece, the processing-target-portion-information generation unit, when measuring the shape of the workpiece, is configured to recognize a tilt of the profiled surface portion relative to a specified reference surface, and the workpiece-processing control unit is configured to control, according to the tilt of the profiled surface portion, an orientation of the processing tool at a time of performing deburring processing.