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  "abstract": "A method performed by a control node for handling communication with a robot device. The control node determines a time limit for when a maximum tolerable deviation from a trajectory is reached, for at least two control command types. The at least two control command types include a joint-space command and a Cartesian-space command. The control node selects the control command type that reaches the time limit later, based on the determined time limit for the at least two control command types.",
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    "ERICSSON TELEFON AB L M"
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    "Rácz Sándor",
    "REIDER NORBERT"
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  "title": "Control node and method performed therein",
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