The study deals with the development of 6-axis control machining by means of ultrasonic vibration. 6-axis control machining, where non-rotational cutting tools are used, has a lot of advantages rather than the conventional one with rotational cutting tools. In machining ductile and soft materials such as aluminum, however, 6-axis control machining often causes the deterioration of surface roughness due to low cutting speed. To solve the problem, the vibrational cutting technology is introduced, which can decrease the cutting force, increase the cutting fluid effect and prevent the generation of built-up edges. In the study, CAM system for 6-axis control vibrational grooving was developed, taking account of the characteristics of vibrational tool. The cutting experiments were conducted to machine V-shaped grooves in a straight line and curved line by use of 6-axis control machining center. As a result, it was confirmed that 6-axis control vibrational machining enables workpieces with high quality to be produced.