Light-weight program controller

For use with a robot having a relatively massive multiple-arm system having a free end moved controllably in a work space in three dimensions under command of command signals, means to mount on said free end a tool to be positioned in said work space and progressively moved in said space, a manually operable teaching system mountable in said work space in which the robot is to move said free end and tool thereon and having a lightweight multiple-arm system constructed symmetrical to the multiple-arm system of said robot with a second free end for mounting thereon a second tool similar to the first-mentioned tool movable manually in said work space progressively in three dimensions in a work pattern in said work space corresponding to desired movement of the first-mentioned tool in said work space, means to develop signals representative of the spatial work pattern of movement of said second free end of the teaching system and a tool thereon, means to memorize said signals, and means to apply command signals to said multiple-arm system of the robot developed from said memorized signals and to cause the multiple-arm system of the robot and first-mentioned free end to duplicate the movements of the free end of the teaching system effected within said work space.