Method for the control of a processing machine or of an industrial robot

A method for controlling a processing machine or an industrial robot, the method comprising:

• acquiring image data of at least one image of a workpiece via a first camera, the first camera defining an optical axis which is parallel to an impact direction of a tool in a z-direction;
• searching for a reference structure of the workpiece using the acquired image data;
• determining a current actual position of at least one reference point of the reference structure in an x/y direction relative to the optical axis of the first camera;
• comparing the current actual position of the reference structure with a nominal position of the reference structure;
• generating control commands to place the tool to at least one area or location of the workpiece to be machined;
• and,
• determining the current actual position of the reference structure in the z-direction of the optical axis by determining a current x/y image size of the reference structure in the acquired image data and by determining a distance of the reference structure from the first camera by comparison with the known actual x/y size of the reference structure and taking the distance of the reference structure from the first camera into account when generating the control commands.