Abstract: A toolbar with a longitudinal axis and a machining tool for machining a workpiece, the toolbar comprising at least one accelerometer configured to generate an electric signal proportional to the velocity of the toolbar along a direction; at least one piezoelectric actuator; and a control logic unit, operatively connected to the at least one accelerometer and to the at least one piezoelectric actuator, wherein control logic unit is configured to drive the at least one piezoelectric actuator by a driving signal proportional to the velocity derived from at least one accelerometer adapted to compensate the torque and the vibrations on the toolbar.