Aiming at solving a series of prominent problems in grinding industry, this paper proposes a hybrid passive/active force control scheme for grinding tap with industrial robot. Firstly, we design an abrasive belt grinder with dynamic position adjustment as passive force control device and use a 6-axis force/torque sensor as active force control device. Nextly, the hybrid passive/active force control strategy is established with impedance controller, including the compensation for tool’s gravity. Then, we plan the robotic grinding path and carry out simulation in V-REP. Finally, the path planning parameters are used for grinding experiments. The results verify that the hybrid passive/active force control scheme for robotic belt grinding system can effectively reduce the fierce mechanical shock by passive force control and acquire preferable force accuracy by active force control.