Appeal No. 1998-1083
Application 08/402,606
al. to include the deflection compensation of Furukawa"
(EA4).
Appellant argues that the claimed invention requires
measuring the positional displacement of a robot that has
been loaded with robotic tools and one that has not, and
then calculating the angular displacement of each axis to
adjust the angle of each axis, whereas in Furukawa "the
angular displacement is calculated based on the amount of
torques experienced by each axis of the robot" (Br8).
The Examiner responds that Appellant fails to consider
the teachings of Ishiguro, which teaches "an effective
position control system and path teaching operation" (EA6).
We do not find the Examiner's statement to be
responsive to Appellant's argument. However, we are
likewise not persuaded by Appellant's argument. The torques
in Furukawa relate to the displacement caused by bending and
are determined from the angular configuration and robot
motion equations (e.g., col. 5, lines 32-34), not actual
torque measurements.
Appellant further argues (Br9): "The adjusted values
[in Furukawa] are added at individual points along a path.
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