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Programming by the lead-through method is accomplished by a person manipulating a wellcounterbalanced robot (or surrogate) through the desired path in space. The program is recorded by the controller, which samples the location of each of the robot's axes several times per second. This method of programming records a continuous path through the work envelope and is most often used for spray painting operations. One major difficulty is the awkwardness of editing these programs to make any necessary changes or corrections.

Premature determination of results. The risk exists of unwittingly predetermining the outcome of decisions that should be made after further research and development. The needed skills simply are not in industry or in the government in the quantities needed to prevent this from happening on occasion. Nontransferable software tools. Virtually all software knowledge engineering systems and languages are scantily documented and often only supported to the extent possible by the single researcher who originally wrote it.

Typical advanced industrial robots have a computer control with a keyboard and screen as well as the teach box, although most do not support programming languages. They do permit subdivision of the robot program (sequence of points) into branches. This provides for limited creation of subroutines and is used for error conditions and to store programs for more than one task. The ability to specify a relocatable branch has provided the limited ability to use sensors and to create primitive programs.

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