---
publication_id: "OT-2026-000001746"
title: "Control node and method performed therein"
published_at: "2026-09-15T19:08:20.109016Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001746"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1664"
  - "b25j9/1664"
  - "b25j9/1664"
  - "b25j9/16"
  - "g05b2219/40519"
---

# 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 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.