1. In a programmable manipulator having an arm movable in a plurality of controllable axes, means for generating signals during a teach phase representing positions described by one end of said arm along one or more work paths, said work paths each comprising a predetermined element in a work path sequence to define an overall work cycle; supervisory programming control means independent of said path signal generating means for programming control parameters independently of and prior to said teach phase in a supervisory programming phase, said control parameters representing movement and control of said arm independent of said work path signals, each of said control parameters being associated with one or more of said work paths in said sequence, said supervisory control parameter programming means comprising means for selecting and sequentially storing said control parameters during said supervisory programming phase and prior to said teach phase in a format identified by said work path sequence; and manipulator main memory means for storing said generated work path signals and said programmed control parameters in a predetermined relationship for use in generating command signals in a replay mode, said generated work path signals being stored in a predetermined relationship representing said work path sequence, a plurality of work path signals and at least one control parameter being associated with each of said work paths, said supervisory control parameter programming means further comprising means for entering said selected and stored control parameters corresponding to each of said work paths into said replay storing means during said teach phase as each respective work path is being taught.