NC machine tools, which are widely employed in manufacturing systems, are basically driven by NC programs. However, it requires extensive amount of time and efforts to generate high quality tool paths before a machining operation. An NC program for five-axis control machining is more difficult to generate because the motion of machine tool is more complicated. In this paper, a new architecture is proposed to autonomously control the machine tool without an NC program for more rapid and flexible machining. A technique called digital copy milling is developed to generate the tool paths in real time based on the principle of copy milling. It means that the cutting parameters can be adaptively controlled in order to maintain stable cutting process and to avoid the cutting troubles. In the experimental verification, the improved digital copy milling system for five-axis control milling successfully detected and avoided tool collision in real-time.