Recently an industrial multi-link robot is expected to be applied to precision machining. However, the multi-link robot manipulators are highly coupled non-linear systems and their equations of motions are hardly identified. Therefore it has been thought that precision machining using a multi-link robot is impossible. In this paper, a new type of precision machining robot in proposed. This robot consists of a multi-link robot and the machining unit for micro-positioning. The control system of this robot is modelled as the singular perturbed system and is applied to the position control and electric discharge machining (EDM) control.