为了提高汽车白车身后底板生产中焊点打磨的安全性与效率，通过提出一种基于协作机器人的自动化打磨系统。该系统采用主动柔顺控制和被动柔顺控制的方法，通过精确校准传感器，准确测定机器人工具与工件交互时的打磨作用力，并将力数据输入至基于导纳模型的机器人控制器，控制机器人末端的打磨装置进行恒力打磨。结果表明：与传统人工打磨相比，所提系统在保证打磨质量的前提下显著提高了打磨效率和保证了焊点打磨时的安全性，同时与PD控制相比，可以实现1N的打磨力浮动，实现了打磨过程中的恒力控制。

In order to enhance the safety and efficiency of welding spot grinding in automotive body-in-white production, an automated robotic grinding system integrating active and passive compliance control strategies was developed. Precise sensor calibration was implemented to accurately measure the interfacial forces during robot tool-workpiece interaction, and the force data was fed into an admittance model-based robot controller to achieve constant-force grinding. The results show that compared with traditional manual grinding, the proposed system significantly improves grinding efficiency and ensures operational safety while maintaining grinding quality. It is concluded that the proposed system achieves 1N force fluctuation during grinding, realizing effective constant-force control compared to PD control methods.