Servos and stepper motors which can detect and set their position based on the frequency or voltage of pulses sent to them. They have a high output driver that turns tiny 5-10volt signals in to larger voltages for the motors.
A computer sends those smaller signals which is ran by code. There are lots of protocols for communication between computers and driver boards.
A good place to look up the basics is programming Arduino Steppers, and CNC Steppers.
All of the larger machines, factories, and robots all use this same principal, just with more motors and moving parts.
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