Appeal No. 1998-1083
Application 08/402,606
actual path are determined. The Examiner has not explained
how the references meet this limitation.
Ishiguro is a real time process that computes a target
position based on the comparison of an ideal state to a
reference state of the arm end on the taught path, where the
ideal state is determined from the present state of the arm
end and the difference between the actual reaction force and
a predetermined target force (abstract). Ishiguro does not
determine a second path and then determine a displacement
between the first and second paths.
Furukawa computes the deflection angle )2d from a first
path due to the weight of the robotic tool using the torque
and deflection angle relationship equations (e.g., col. 5,
lines 32-41). The deflection angle could be used to
determine an actual position of the endpoint on the second
path (col. 4, equation 2); however, this does not meet the
terms of the claim which requires the displacement to be
determined from the first and second paths. Further,
Furukawa uses the deflection angle to determine a point on
the target path (col. 5, lines 42-46, using equation 1),
rather than a point on the second path. Furukawa does not
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