Embodiments of the invention are directed to a
system arrangement and method for the
optical control of the work result of a tool and / or guiding the tool with all-around view, wherein tool and workpiece are moved relative to each other, along a
straight path or, particularly, on curved path. According to an aspect, the tool is positioned centrically in the
image field and a tool support is located centrically in the beam path or in a
pupil of the
optics, or in an optical vicinity of the
pupil. An arrangement for 3D analysis is also indicated. Advantageously, only one camera need be used, providing a lean design of viewing and illumination, and
usable under cramped space conditions. Guiding,
processing and control are possible in a single operation using a
single camera. Methods for, e.g., applying viscous masses,
welding, deburring, and related applications are also disclosed.