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In 2005, the first robot flexible grinding and polishing system of our technical team began. We were in the grinding quality linearization of various abrasive materials, the arrangement of various material grinding processes, the influence of various dust on the system, the testing of grinding quantity, the real-time inspection of the quality of polishing, the non quantitative grinding process and the deformation of the workpiece. The simplification of programming and other aspects began a long-term development, practice and redevelopment. Materials related to iron, stainless steel, high temperature alloy materials, composite materials and so on. Today, our second generation of flexible grinding system can give users more satisfactory application.