Abstract: A computer-implemented method/product for controlling a handling system, comprising performing one or more control cycles, each control cycle comprising receiving image data that represents an image of at least one portion of an item to be gripped, which image is captured by a detection device, determining a target gripping point on the item for the end effector, comprising analyzing the image data, generating control signals which cause the at least one robot to grip the item at the target gripping point by means of the end effector, wherein determining the target gripping point comprises analyzing the image data by two or more mutually independent gripping point determination algorithms, wherein each of said gripping point determination algorithms determines at least one gripping point candidate, and wherein the gripping point candidates determined by the two or more gripping point determination algorithms form a set Me of gripping point candidates.

Abstract: A method (for handling objects arranged in a work area) comprising carrying out a plurality of handling cycles one after the other, each handling cycle comprising capturing at least one image of the work area, determining, on the basis of the at least one image, at least one grip point candidate at which a corresponding object can be gripped with the end effector, wherein the determined grip point candidates form a set Me of grip point candidates, selecting a grip point candidate as the target grip point for the end effector, and performing a handling task comprising moving the end effector to the target grip point, wherein at least one subset Mes of the set Me is stored in a grip point memory, and at least one subset Mtes of the grip point candidates Mes stored in the grip point memory remains stored at least until the next handling cycle.