Abstract: Aiming at the high-precision drilling requirements of carbon fiber composite drone body structures, a hybrid robot high-precision drilling equipment was developed, and a control architecture of series parallel multi-degree of freedom collaboration and multi-sensor fusion was established. The attitude correction strategy based on multi-point laser ranging and the contact-based measurement depth control strategy were proposed. A twin simulation framework that maps the interaction between virtual environment and physical space was constructed, and the simulation of the hole-making process based on the twin model was realized. Finally, the effectiveness of the proposed control architecture and hole position correction method was verified through hole making test analysis. The test results show that the maximum error of the hole position posture is 0.48°, the absolute value range of the hole diameter deviation is 0.04～0.10 mm, the rivet installation state meets the design requirements, and the hole-making efficiency is increased by 2 times.