Abstract: A robot programming system is provided comprising a simulated work cell configuration, a tool position and orientation sensor assembly, and a programing computer. The simulated work cell configuration includes a tangible artificial tool and a tangible artificial workpiece, wherein the position and orientation of the artificial tool relative to the workpiece is variable. The sensor assembly is operative to sense the position and the orientation of the artificial tool. The programming computer is in communication with the sensor assembly and is programmed to (i) display a variable virtual robot configuration based upon the sensed position and orientation of the artificial tool, (ii) receive discrete artificial tool positions and orientations from the sensor assembly, and (iii) create a robot job data file including the discrete artificial tool positions and orientations.