writing: how to animate "End Bevel Factor" along a path

Hi,

I’m trying to make an animation of a robot writing on a paper.
I’m using a path with a bevel. With that I can animate the End Bevel Factor (keyframes begin and end) so it looks like the path is written.
In order to make a robot arm to follow the point where the bevelling ends (like the robot arm is writing it) I want to use an empty that is precisely at the end of the bevelled section. However, if I animate the empty along the same path, there is an offset between the position of the empty and where the bevel ends.

Anyone any suggestions how I can track the end of the bevel position with an empty accurately?

thanx!

this question is also of interest, it seems to me that you can not do without scripts or drivers, unfortunately I do not know them (((