Robotic heavy-duty deburring is often performed with special shaped grinding cups which allow for rapid material removal, but with secondary concern on surface quality. The cups are not dressed and wear constantly. Little research data is available on this grinding process. The paper presents the results of an extensive study to model this grinding process and presents a new, simple and fundamental process model relating the material removal rate to such factors as the contact force and the grinding angle. The test set-up, consisting of a hydraulic force controlled robot and the Taguchi method to minimise the number of tests, is described. Additionally, a dynamic model to predict the ground profile in the presence of burrs, is presented. Based on the process model, a strategy is proposed for the robotic deburring of small burrs as well as for large burrs with a force controlled grinding cup.