In order to realize the surface grinding of complicated and specially- shaped knives and scissors,a multi- axismotion control method is proposed for spatial surface grinding.Based on the characteristics of surface grinding andhorizontal surface grinder,the functional relationship between machining parameters and process parameters isestablished.The machining parameters include radial feed,axial feed and rotation angle,and the process parame-ters includes grinding depth of top surface,grinding depth of bottom surface and grinding width.Then,the jointcontrol of one rotational axis and two translational axes is realized by taking into account surface projection rules．Based on the proposed control method,a computer numerical control (CNC) system is developed,which supportsthe mixed 2D graphic and parametric user programming.Finally,the CNC system is employed to develop a proto-type of numerical control surface grinder,and grinding experiments are performed by using the surface grinder.Theresults show that the surface grinder is able to manufacture various kinds of knives and scissors and is superior to ahydraulic surface grinder in terms of efficiency and quality.