Abstract: An end-effector apparatus, used in combination with a machining device and robotic arm, for use in template-guided robotic machining a workpiece. The end-effector apparatus includes a holding means which holds a guide bushing against the machining template in a consistent orientation with a constant force independent of the orientation of the end-effector apparatus. The end-effector apparatus further includes two separate means for translational travel of the machining device. This translational travel allows the machining device cutting element to controllably follow substantial contour changes along the periphery of the template with a minimal number of spatial coordinates required to be programmed within an interfacing computer.