In modern industrial processes there is an increasing involvement of anthropomorphic robots, which are normally controlled in position and programmed to execute predefined trajectories. However, in some specific processes such as machining processes, the use of this technology does not allow to obtain a quality, in terms of accuracy and finishing of the machining, comparable to that obtained by performing the operations manually. This made it necessary to introduce new technologies to make the machines capable of reacting to their surroundings. One of the most innovative technologies introduced in the robotics field is force control. The use of a 6 degrees of freedom load cell sensor integrated in the control loops of an anthropomorphic robot allows to provide the robot with an almost immediate feedback on the forces and torques exerted at the end-effector level.