In robotic surface finishing, ensuring feasible contact force during defect removal is critical for maintaining grinding quality and tool safety. This paper presents a force controlled pose adaptation method for robotic grinding. In this respect, success of grinding process, defect removal speed and surface quality are investigated to evaluate the proposed method. The control system employs real-time force feedback to adjust the TCP trajectory, moving backward when excessive force is detected to maintain contact force within a feasible range. Experiments of grinding tasks on zinc-coated scaffolding demonstrate that the proposed method enables successful defect removal while maintaining force levels.