Control device for a handling device

A control device for a handling device, comprising:

• a storage medium,
• a processing unit,
• an output for outputting signals, and
• an input for receiving signals from the handling device,
• wherein the end of a waiting phase can be determined by the control device when reaching a threshold value, wherein the waiting phase is conducted before an actuation of an end-of-arm tool mounted to an end-of-arm of a handling arm and serves for decaying oscillations of the end-of-arm of the handling arm of the handling device, wherein:
• the signals received by the input represent a dynamic parameter of the end-of-arm of the handling arm and the threshold value corresponds to a specific dynamic parameter of the end-of-arm stored in the storage medium, wherein the received signals can be compared with the threshold value by a comparison unit of the control device and the end of the waiting phase can be determined when reaching the threshold value, or
• multiple oscillating profiles of the end-of-arm, each with a curve of a dynamic parameter of the end-of-arm, are stored in the storage medium, wherein in dependence on the curve of the dynamic parameter, the threshold value, which corresponds to a time limit, can be determined and the end of the waiting phase can be determined when reaching the threshold value.