Aiming at the high precision machining for weak rigid parts of aircraft, the digital measure technologies including collaborative calibration for robot milling system, edge extracting and reverse modeling of skins, and positioning correction of end-effector were developed. Based on the above measure of edge machining allowance and on-line correction of machining process, the measurement error of skin edge was 0.1mm and end-effector positioning error was no more than 0.2mm for skin, cover and panel of aircraft. The digital collaborative measure in this paper meets the requirements of digital measurement for advanced aircraft manufacture, improves level of automatization and digitization for skin and panel milling of aircraft, and accelerates the progress from handwork assembly to intelligent assembly.