In order to ensure that a robotic hand can successfully grasp objects without damaging them, an active compliance control can be a very useful technique to provide a safe grasping. In particular, this paper establishes a direct force control for a 3-Finger Adaptive Robot Gripper by using a PID control. A modified FSR force sensor where a plastic cover is used to ensure the contacted force during grasping can be measured and recorded. A series of grasping tests were performed to observe the performance of PID control. The experimental results show that the PID control can be a simple and reliable control scheme to provide an active compliance control through direct force control. In addition, different compliance level is feasible particularly for a stiff spongy ball.