Articulated-arm robot and method for machining a workpiece by means of the articulated-arm robot

An articulated-arm robot comprising:

• a base,
• a working head holder,
• several lever arms, which are arranged between the base and the working head holder, wherein the lever arms are coupled to one another by means of revolute joints and wherein for each revolute joint at least one actuator is provided, which serves for adjustment of the angle between the two lever arms coupled by means of the respective revolute joint,
• a working head, which is arranged on the working head holder, wherein the working head comprises a working spindle, which is arranged in a spindle housing and is mounted in the spindle housing at least at a first bearing point and a second bearing point, wherein the working spindle is configured to hold a processing tool for processing a workpiece,
• a computational unit which serves for controlling the actuators,
• wherein at least one sensor for sensing a radial force is formed at each of the first bearing point of the working spindle and the second bearing point of the working spindle and wherein at least one sensor for sensing an axial force is formed on at least one of the two bearing points,
• wherein the computational unit is configured to calculate the pressing force of the processing tool against the workpiece based on the sensed radial force and the sensed axial force.