Object handling in an absolute coordinate system

An object control entity configured to control a handling of a further object which is handled at a site by at least two different workstations and which is moved between the at least two different workstations, the object control entity comprising a memory and at least one processing unit, the memory containing instructions executable by said at least one processing unit, wherein the object control entity is operative to:

• determine a site plan of the site, the site plan indicating the at least two workstations at predefined positions in the site plan,
• determine a trajectory of a first object moving in the site in an absolute coordinate system of the site,
• deduce absolute positions of the at least two workstations in the absolute coordinate system from the determined trajectory of the first object,
• the absolute positions of the at least two workstations for controlling the handling of the at least one further object handled by the at least two workstations,
• wherein a conveyer is provided to move the first object from one of the at least two workstations to another of the at least two workstations, wherein the object control entity, for determining a trajectory, is operative to determine an absolute conveyor trajectory comprising positions of the first object moving between the two workstations in the absolute coordinate system and operative to determine an absolute workstation trajectory for each of the at least two workstations comprising positions of the first object during manipulation at the corresponding workstation in the absolute coordinate system, and to use the conveyer trajectory and the absolute workstation trajectory for controlling the handling of the at least one further object.