2003 Saturn Sky ABS working on dry roads?

Brakes problem
2003 Saturn Sky All Wheel Drive Automatic 52000 miles

My 2003 Saturn Vue just started this. When I go to stop, the Abs kick in and do the pulsating of the pedal along with the grinding noise. It only happens during the last like 3 seconds of the braking process. No abs lights come on during this time at all. We have replaced the front pads and rotors and still have the problem. What could it be?