Preparing the published article.
Joint Space and Cartesian Space Explained
One describes how the axes move; the other describes where the tool goes.
The difference
Joint space describes posture by axis angles, each independently controlled. Cartesian space describes tool position and orientation, which is closer to how operators think.
When each is used
Straight-line motion, contour following and dispensing paths are easier to describe in Cartesian coordinates. Avoiding singularities, limiting posture and protecting joints work better in joint angles.
Practical tip
Record both the Cartesian pose and the joint angles for each taught point, and note whether multiple solutions exist.