Method for high-precision introduction of boreholes into a surface, which is preferably a freeform surface of a workpiece mounted in a stationary manner using a boring tool that is attached to the end face of an articulated-arm robot and which can be spatially positioned thereby, comprising the following method steps: - positioning the boring tool guided by the articulated-arm robot at a spatial position which lies opposite a specified machining location on the workpiece surface at a specified distance therefrom, on the basis of a binary dataset which describes the spatial form of the workpiece to be machined, of the specified machining location on the workpiece surface, and of a tool centre point assigned to the tool, wherein the spatial position of the boring tool guided by the articulated-arm robot relative to the specified machining location on the workpiece surface is captured and tracked, wherein the metrological capture is assured by means of a contactless tracking system which generates at least a workpiece coordinate system describing the spatial locus of the workpiece and a robot coordinate system describing the spatial locus of the articulated-arm robot, which are both spatially correlated with each other, - producing a rigid mechanical connection which supports the end face of the articulated-arm robot on the workpiece in the manner of a rigid clamping and which can be released from the workpiece surface, in which one side of the articulated-arm robot is supported on the workpiece surface, and absorbs forces and moments acting along the articulated-arm robot, wherein three linear actuators mounted on the end face of the articulated-arm robot, each having a joining means facing the workpiece, are actuated individually, precisely and independently of each other, and wherein the linear actuators on the otherwise positioned and idling articulated-arm robot contact the workpiece surface via the joining means, and - moving the boring tool towards the machining location by means of an NC advancing unit attached to the end face of the articulated-arm robot and subsequently engaging the boring tool with the workpiece at the machining location on the workpiece surface while the end face of the articulated-arm robot is connected to the workpiece, wherein the boring operation is monitored on the basis of information obtained using a sensor system which detects the position of the boring tool relative to the workpiece surface and which is attached to the end face of the articulated-arm robot, and the boring process is terminated upon reaching a specified boring depth, characterized in that the generation of the workpiece coordinate system and of the robot coordinate system is carried out in a state in which the articulated-arm robot under force application is in operative connection with the workpiece, and that a check and if necessary adjustment of the spatial position of the boring tool which is attached to the end face of the articulated-arm robot and positioned thereby against the spatial position relative to the machining location on the workpiece surface is carried out on the basis of the coordinate systems that are generated under application of force by the contactless tracking system, so that the boring tool assumes a target locus at the spatial position. - positioning the boring tool guided by the articulated-arm robot at a spatial position which lies opposite a specified machining location on the workpiece surface at a specified distance therefrom, on the basis of a binary dataset which describes the spatial form of the workpiece to be machined, of the specified machining location on the workpiece surface, and of a tool centre point assigned to the tool, wherein the spatial position of the boring tool guided by the articulated-arm robot relative to the specified machining location on the workpiece surface is captured and tracked, wherein the metrological capture is assured by means of a contactless tracking system which generates at least a workpiece coordinate system describing the spatial locus of the workpiece and a robot coordinate system describing the spatial locus of the articulated-arm robot, which are both spatially correlated with each other, - producing a rigid mechanical connection which supports the end face of the articulated-arm robot on the workpiece in the manner of a rigid clamping and which can be released from the workpiece surface, in which one side of the articulated-arm robot is supported on the workpiece surface, and absorbs forces and moments acting along the articulated-arm robot, wherein three linear actuators mounted on the end face of the articulated-arm robot, each having a joining means facing the workpiece, are actuated individually, precisely and independently of each other, and wherein the linear actuators on the otherwise positioned and idling articulated-arm robot contact the workpiece surface via the joining means, and - moving the boring tool towards the machining location by means of an NC advancing unit attached to the end face of the articulated-arm robot and subsequently engaging the boring tool with the workpiece at the machining location on the workpiece surface while the end face of the articulated-arm robot is connected to the workpiece, wherein the boring operation is monitored on the basis of information obtained using a sensor system which detects the position of the boring tool relative to the workpiece surface and which is attached to the end face of the articulated-arm robot, and the boring process is terminated upon reaching a specified boring depth,