One of the major differences is that the inverse kinematics of the robot is solved. Thus, the robot can draw any curve without teaching by demonstration.
If anyone is interested in the code, I can post it here.
Hi,
I'm thinkimg of something similar to DRAW patterns, like on back notes. Your code could be useful, also some hardware details may help, but I did think of using stepper motors, servos would have fairly good position repeatablilty??