An end-effector is designed and prototyped as the mini manipulator in a macro-mini system. It has properties of fast response and high resolution in position control and force control. In this paper, a directional force control algorithm of the end-effector is introduced targeting on the application of polishing and deburring. The dynamic model of the end-effector is estimated by the approach of frequency response. The dynamic information of the end-effector can be implemented in controlling the integrated macro-mini manipulator system. A communication through TCP/IP is set up between the macro and mini manipulator for control purpose.