Operating device for controlling or programming a manipulator with six independently controllable degrees of freedom, comprising: A first input arrangement, which is configured to predefine a movement of the manipulator along an x-axis of the manipulator and to predefine a rotation of the manipulator about the x-axis of the manipulator, wherein the first input arrangement is aligned along a first main axis of the operating device; a second input arrangement which is configured to predefine a movement of the manipulator along a y-axis of the manipulator and to predefine a rotation of the manipulator about the y-axis of the manipulator, wherein the second input arrangement is aligned along a second main axis of the operating device; and a third input arrangement which is configured to predefine a movement of the manipulator along a z-axis of the manipulator and to predefine a rotation of the manipulator about the z-axis of the manipulator, wherein the third input arrangement is aligned along a third main axis of the operating device wherein the x-axis, y-axis and z-axis of the manipulator are orthogonal to each other, and wherein the main axes of the operating device are substantially orthogonal to each other; and wherein the first, second and third input arrangement (2x, 2y, 2z) each comprises an operable motion predefine element (4x, 4y, 4z, 8x, 8y, 8z) configured to predefine the motion of the manipulator, and an operable rotation predefine element (3x, 3y, 3z, 8x, 8y, 8z) configured to predefine the rotation of the manipulator. A first input arrangement, which is configured to predefine a movement of the manipulator along an x-axis of the manipulator and to predefine a rotation of the manipulator about the x-axis of the manipulator, wherein the first input arrangement is aligned along a first main axis of the operating device; a second input arrangement which is configured to predefine a movement of the manipulator along a y-axis of the manipulator and to predefine a rotation of the manipulator about the y-axis of the manipulator, wherein the second input arrangement is aligned along a second main axis of the operating device; and a third input arrangement which is configured to predefine a movement of the manipulator along a z-axis of the manipulator and to predefine a rotation of the manipulator about the z-axis of the manipulator, wherein the third input arrangement is aligned along a third main axis of the operating device wherein the x-axis, y-axis and z-axis of the manipulator are orthogonal to each other, and wherein the main axes of the operating device are substantially orthogonal to each other; and wherein the first, second and third input arrangement (2x, 2y, 2z) each comprises an operable motion predefine element (4x, 4y, 4z, 8x, 8y, 8z) configured to predefine the motion of the manipulator, and an operable rotation predefine element (3x, 3y, 3z, 8x, 8y, 8z) configured to predefine the rotation of the manipulator. wherein the main axes of the operating device are substantially orthogonal to each other; and wherein the first, second and third input arrangement (2x, 2y, 2z) each comprises an operable motion predefine element (4x, 4y, 4z, 8x, 8y, 8z) configured to predefine the motion of the manipulator, and an operable rotation predefine element (3x, 3y, 3z, 8x, 8y, 8z) configured to predefine the rotation of the manipulator.