Abstract: The invention concerns a machine-tool, in particular a milling machine Including a machine frame; a tool carrier mounted on the machine frame for receiving a tool; a drive device for rotationally driving the tool in the tool carrier about a tool axis; a receiving device (6) mounted on the machine frame (1), for receiving a workpiece (7); a first rotary drive device for generating a first relative angular movement between the tool carrier and the receiving device and a second rotary drive device for generating a second relative angular movement between the tool carrier and the receiving device; a translational drive device for generating a relative translation movement between the tool carrier and the receiving device along three axes; a control device, which is designed in such a way that it enables to control the relative rectilinear movements between the tool carrier and the receiving device and the relative angular movement between the tool carrier and the receiving device substantially at the same time