Industrial object handling robot

A robot arrangement for handling objects (O1) on an object transporting device and including an industrial robot and an object handling control device,

• the object handling control device being configured to:
• estimate a candidate handling position (OP1, OP2, OP3, OP4, OP5, OP6, OP7) for at least one candidate object based on a first assumption;
• determine for each candidate handling position whether it lies within a working volume (wv1;
• wv2) of the robot;
• select one of the candidate handling positions (OP1, OP2, OP3, OP4, OP5, OP6, OP7) at a first decision instant, the selection being at least partially based on the result of the determining;
• handle an object at an actual handling position corresponding to the selected candidate handling position, the handling being performed after a usage time of the robot, the usage time including the time for moving the robot from the robot position at the first decision instant to the actual handling position, and the time for handling the object
• measure the usage time in order to obtain a usage time measurement for use in following candidate handling position estimations;
• and
• estimate candidate handling positions (OP1, OP2, OP3, OP4, OP5, OP6, OP7) for at least one other candidate object based on a second assumption, the second assumption being based on at least one usage time measurement.