Yeah, I know that… but the “Set Inverse Button” Makes everything messed up:)
I create an Empty at my desired place : 
Then I select the axis Empty & create a new child of constraint:

The cube is getting moved, but not too tragic until now. Now I press the “Set inverse Button”:
Cube getts messed up. Dang, I press “Clear inverse”:

Cube is on top again, but at a very strange position!!
It doesn’t matter at wich point I try to rotate the cube, it never behaves like it should, or it even messes up the rotation of the “original” Empties!
I am sorry, maybe it’s an obvious solution I am just overseeing here. I feel like i’m running into a wall with my head first, whenever I try to solve my problem >.<!
Thanks for your Help:)