Automated adaptive machining of obstructed passages

An automated machining process for machining of an obstructed passage of an article includes the steps of deriving the position and orientation of the passage from automated processing of images of the passage and additional information from a distance measurement device and saving positions and orientations of the passage as local coordinates with respect to a reference coordinate system attached to the material that surrounds the passage. The saved positions and orientations of the passage are used for subsequent removal of unwanted material from the obstructed passage.