1. A control system for a work robot comprising: a controller for concurrently (a) driving at least one articulated robot link under closed loop servo control and (b) executing at least one auxiliary function operating in conjunction with the robot link, in response to a sequence of link position commands and auxiliary function commands read from a robot program memory; an auxiliary function memory, associated with the controller, for temporarily storing auxiliary function commands; means for loading the auxiliary function memory with auxiliary function commands, prior to storing a sequence of link position commands and auxiliary function commands in the robot program memory, so that the auxiliary function commands can be read from the auxiliary function memory in a desired order; a robot simulator manually manipulable to produce a sequence of robot link position commands; manually operated auxiliary function command sequencing means for effecting the reading of each auxiliary function command, in order, from the auxiliary function memory at a point in the sequence of robot link position commands correlated to the point during the sequence of robot link position commands at which the sequencing means is manually operated; and memory means in the controller, coupled to the robot simulator and to the auxiliary function memory, including a robot program memory for storing the sequence of link position commands produced by the simulator interleaved with the auxiliary function commands read from the auxiliary function memory, each auxiliary function command being stored at a point in the sequence of robot link position commands correlated to the point in the sequence of robot link position commands at which the auxiliary function command sequencing means is manually operated.