<p>In the modern manufacturing industry, high-precision grinding of cast iron demands improved workpiece surface quality and processing efficiency. This paper proposes a novel hybrid force/position control strategy for robotic grinding systems. The system employs a passive flexible device to decouple force and position control, allowing independent adjustment of grinding force and robot trajectory. Fuzzy and integral parallel control ensures precise force control, while pose compensation maintains the correct tool orientatio. A material removal model, based on Hertzian contact theory and the Preston equation, was developed to analyze mechanical principles and material removal characteristics during grindingn. The model guides the selection of process parameters and optimizes grinding experiments. Experimental results confirm the strategy’s effectiveness, demonstrating superior force control, pose compensation, and material removal accuracy, paving the way for advanced robotic grinding systems in various industries.</p>