Control device for a handling device

A control device for a handling device, the control device comprising:

• a non-transitory computer-readable medium having stored thereon executable instructions;
• a processor;
• an output configured to output signals;
• and
• an input configured to receive signals from the handling device,
• wherein:
• the control device is configured to determine an end of a waiting phase when reaching a threshold value, the waiting phase being conducted before an actuation of an end-of-arm tool mounted to an end-of-arm of a handling arm of the handling device and the waiting phase serving to reduce oscillations of the end-of-arm of the handling arm of the handling device;
• the signals received by the input represent a dynamic parameter of the end-of-arm of the handling arm of the handling device and the threshold value corresponds to a specific dynamic parameter of the end-of-arm of the handling arm of the handling device stored in the non-transitory computer-readable medium;
• the executable instructions, when executed by the processor, cause the control device to function as a comparison unit configured to:
• (i) compare the signals received from the handling device with the threshold value and determine the end of the waiting phase when reaching the threshold value;
• or (ii) based on a curve of the dynamic parameter of each of multiple oscillating profiles of the end-of-arm of the handling arm of the handling device that are stored in the non-transitory computer-readable medium, determine the threshold value, which corresponds to a time limit, and determine the end of the waiting phase when reaching the threshold value;
• and
• the control device is configured to control the end-of-arm of the handling arm of the handling device based on the end of the waiting phase which has been determined.