The paper describes the development and implementation of two control subsystems for aircraft panel riveters. They were installed on two production CNC riveters to provide improved edge tracing of longerons and drill/countersink control. The optical tracer uses video techniques to maintain a constant edge distance for fastener locations. The guidance system, which employs a standard TV camera, offers increased reliability, convenience, and versatility over mechanical type tracers.The programmable spindle/quill feed system is based on a commercially available microprocessor-controlled hydraulic servo control. Installation of the control, servo valve, and feedback transducer is described. Enhanced capabilities, such as multiple feed rates and remote control of drill/countersink depths have resulted.