The interaction force and the environments uncertainties are the most challenges for robotic material removal process. The conventional constant force control methods for the deburring process have the inherent characteristic of leaving the deburred surface as an imprint of the original. A process force model considering the burrs variation is presented to predict the contact force in robotic machining process. A self-tuning fuzzy strategy is adopted to implement the on-line compensation for the static error caused by the traditional impedance controller. The fuzzy controller is adjusted by an updating factor to select the most appropriate fuzzy rule set based on the measured performance results. Simulation results show efficacy of the proposed method in robotic machining process, and the control performance is better than that of a traditional impedance controller.