Abstract
This paper presents a robot control system dedicated for heavy grind- ing. The control system is based upon an active force feedback system using three axes force sensor attached to the robot's end effector. This system offers high flexibility and robustness against workpiece positioning and grinding tool wear. In addition, it provides control of the grinding process parameters ensuring high productivity in addition to good grinding performance and grinding tool economy. The system was experimentally tested out on an MultiCraft 560 grinding robot.