Abstract: Methods of programming mechanical manipulators are disclosed that permit a mechanical manipulator to be programmed to perform coordinated motions between one or more modules comprised of equipment with which the manipulator will interact by defining an origin point and one or more frame points related to each of the modules relative to the origin point. Each of the modules associated with a frame point is then identified and a module program describing pre-programmed manipulator motions related to each of the modules is accessed. Finally, a sequence of motions between the origin and each of the frame points of the modules is defined. The step of locating frame points can be carried out in several different ways, using a teach pendant or by automatically locating the module frame points using an infrared sensor, electric field sensor, acoustic sensor, or force sensor.