PURPOSE: To perform a finishing work, such as burr removal or polishing, effected by using a multishaft robot with a sensation further similar to a manual work.

CONSTITUTION: A tool T is supported to the tip of the arm of a mutilshaft robot R rockably in a balanced state through balance in the direction of gravity. Besides, a pressure device to press a tool T against a work W, supported to a portion positioned facing the multishaft robot R, by a constant press force is provided. The own weight of the tool T as the press side or the work W is not applied as a press force. The press force is made approximately equal to thrust of the pressure device. Thus, the press force is reduced to a value lower than the own weight of the tool T or the work W and a finish work is executed by a sensation further similar to a manual work.