A method for handling objects (O1) on an object transporting device (26; 28) using an industrial robot (10; 20), the method comprising the steps of: - estimating (48; 56) a candidate handling position (OP1, OP2, OP3, OP4, OP5, OP6, OP7) for at least one candidate object based on a first assumption; - determining (50; 58) for each candidate handling position whether it lies within a working volume (wv1; wv2) of the robot (10; 20); - selecting (52; 60) one of the candidate handling positions (OP1, OP2, OP3, OP4, OP5, OP6, OP7) at a first decision instant, the selection being at least partially based on the result of the determining; and - handling (54; 62) an object at an actual handling position corresponding to the selected candidate handling position, the handling being performed at a time for handling the object that is part of a usage time of the robot, the usage time comprising the time for moving the robot from the robot position at the first decision instant to the actual handling position and the time for handling the object; characterized by measuring the usage time in order to obtain a usage time measurement for use in following candidate handling position estimations; - estimating a candidate handling position (OP1, OP2, OP3, OP4, OP5, OP6, OP7) for at least one candidate object based on a second assumption, the second assumption being based on at least one usage time measurement, - determining for each candidate handling position estimated based on the second assumption whether it lies within the working volume (wv1; wv2) of the robot (10; 20); - selecting one of the candidate handling positions (OP1, OP2, OP3, OP4, OP5, OP6, OP7) estimated based on the second assumption at a later first decision instant, the selection being at least partially based on the result of the determining; and - handling an object at an actual handling position corresponding to the selected candidate handling position at the later first decision instant. - estimating (48; 56) a candidate handling position (OP1, OP2, OP3, OP4, OP5, OP6, OP7) for at least one candidate object based on a first assumption; - determining (50; 58) for each candidate handling position whether it lies within a working volume (wv1; wv2) of the robot (10; 20); - selecting (52; 60) one of the candidate handling positions (OP1, OP2, OP3, OP4, OP5, OP6, OP7) at a first decision instant, the selection being at least partially based on the result of the determining; and - handling (54; 62) an object at an actual handling position corresponding to the selected candidate handling position, the handling being performed at a time for handling the object that is part of a usage time of the robot, the usage time comprising the time for moving the robot from the robot position at the first decision instant to the actual handling position and the time for handling the object; characterized by measuring the usage time in order to obtain a usage time measurement for use in following candidate handling position estimations; - estimating a candidate handling position (OP1, OP2, OP3, OP4, OP5, OP6, OP7) for at least one candidate object based on a second assumption, the second assumption being based on at least one usage time measurement, - determining for each candidate handling position estimated based on the second assumption whether it lies within the working volume (wv1; wv2) of the robot (10; 20); - selecting one of the candidate handling positions (OP1, OP2, OP3, OP4, OP5, OP6, OP7) estimated based on the second assumption at a later first decision instant, the selection being at least partially based on the result of the determining; and - handling an object at an actual handling position corresponding to the selected candidate handling position at the later first decision instant. <EOS>