---
publication_id: "OT-2026-000001013"
title: "Control node and method performed therein"
published_at: "2026-09-15T19:03:44.114249Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001013"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1664"
  - "b25j9/1674"
  - "b25j9/1674"
  - "b25j9/16"
  - "b25j9/1674"
---

# Control node and method performed therein

## Abstract

A method performed by a control node for handling communication with a robot device. The control node determines a distance from a planned trajectory and/or path, and a distance from a boundary surface, which distances are related to a command message received from a robot device, wherein the boundary surface is associated to an accuracy requirement. The control node further measures a performance of the trajectory based on the determined distance from the planned trajectory and/or path and from the boundary surface. The control node further evaluates an effect of the measured performance for the robot device.