A processing machine includes a drive source, a camera, an image processing device and a control device. The drive source makes a workpiece and a tool relatively move in a first direction. The camera captures the tool in the first direction to acquire an image. The image processing device identifies a position of the tool in the first direction based on clarity of the tool in the image. The control device controls the first drive source based on the position of the tool in the first direction identified by the image processing device.

Strapping devices and methods are provided. The strapping device can include a member. The strapping device can include a first actuator coupled with the member to move the member between a first position and a second position. The strapping device can include a sensor to detect an electrical characteristic of the first actuator and to transmit a signal indicative of the electrical characteristic. The strapping device can include a data processing system. The data processing system can receive the signal and determine the member is in contact with a welding component based on the electrical characteristic. The data processing system can determine the second position of the member based on the member being in contact with the welding component. The data processing system can transmit a control signal to the first actuator and a second actuator to initiate a welding cycle with the member at the second position.

Approaches presented herein provide for predictive control of a robot or automated assembly in performing a specific task. A task to be performed may depend on the location and orientation of the robot performing that task. A predictive control system can determine a state of a physical environment at each of a series of time steps, and can select an appropriate location and orientation at each of those time steps. At individual time steps, an optimization process can determine a sequence of future motions or accelerations to be taken that comply with one or more constraints on that motion. For example, at individual time steps, a respective action in the sequence may be performed, then another motion sequence predicted for a next time step, which can help drive robot motion based upon predicted future motion and allow for quick reactions.