An articulated-arm robot and a method for machining a workpiece by means of the articulated-arm robot includes a base; a working head holder; several lever arms, which are arranged between the base and the working head holder, the lever arms being coupled to one another by means of revolute joints; a working head which is arranged on the working head holder, the working head comprising 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. At least one sensor for sensing a radial force is formed at each of the first bearing point and the second bearing point. At least one sensor for sensing an axial force is formed at least one of the two bearing points.

An articulated-arm robot and a method for machining a workpiece by means of the articulated-arm robot includes a base; a working head holder; several lever arms, which are arranged between the base and the working head holder, the lever arms being coupled to one another by means of revolute joints; a working head which is arranged on the working head holder, the working head comprising 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. At least one sensor for sensing a radial force is formed at each of the first bearing point and the second bearing point. At least one sensor for sensing an axial force is formed at least one of the two bearing points.