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 each comprises an operable motion predefine element configured to predefine the motion of the manipulator , and an operable rotation predefine element 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 each comprises an operable motion predefine element configured to predefine the motion of the manipulator , and an operable rotation predefine element 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 each comprises an operable motion predefine element configured to predefine the motion of the manipulator , and an operable rotation predefine element configured to predefine the rotation of the manipulator . <EOS>