The invention relates to a method and an arrangement for introducing boreholes into a surface of a workpiece (W) mounted in a stationary manner using a boring tool which is attached to the end face of an articulated-arm robot (KR) and which can be spatially positioned by said robot. The method has the following method steps: —positioning the articulated-arm robot-guided boring tool at a spatial position which lies opposite a specified machining location on the workpiece surface at a specified distance therefrom, —producing a rigid mechanical connection which supports the end face of the articulated-arm robot (KR) on the workpiece and which can be released from the workpiece surface, and —machining the surface by moving the boring tool towards the machining location and subsequently engaging the boring tool with the workpiece (W) at the machining location on the workpiece surface while the end face of the articulated-arm robot (KR) is connected to the workpiece. The invention is characterized by the combination of the following method steps: the boring tool is moved towards the workpiece (W) by means of an NC advancing unit attached to the end face of the articulated-arm robot (KR), the boring process is monitored on the basis of information obtained using a sensor system which detects the position of the boring tool relative to the workpiece surface and which is attached to the end face of the articulated-arm robot (KR), and the boring process is terminated upon reaching a specified boring depth.