The invention discloses an active compliance end effector for controllable-pitch propeller robotgrinding and a control method. The active compliance end effector comprises a grinding tool, a BT30 knife handle, a grinding electric spindle, brackets for fixing the grinding electric spindle, a force sensor for detecting a normal grinding force, a support for mounting the force sensor, a displacement sensor for detecting deviation of an end position, a support for fixing the displacement sensor, a ball screw for providing axial movement degree of freedom and transmitting torque, a bearing block for supporting and fixing the ball screw, a ball screw nut, a ball screw nut support, an alternating-current servo motor, a flange support, a coupler, linear guide tracks, sliders, a bottom supporting plate and a control system, wherein the servo motor is connected with the ball screw through the flange support and the coupler; and the control system is used for driving the servo motor. The active compliance end effector has the advantages of simple structure, convenience in assembly, high control precision and high response speed; and meanwhile, the grinding tool can be changed automatically.