We present the design of a reference model (RM) of the robot manipulator programming system and a robot manipulator package (RMP), as were proposed by Won L. Chung. The RM defines various interfaces and archtecture of the manipulator programming system. The RMP is based on the RM. The applications programmer interface (API) of the RM defines the high-level functions to be invoked in a manipulator program written in a procedural (base) language, in a manner independent of the base language, manipulator types, or applications. The virtual controller interface (VCI) defines the next lower-level functions for manipulator control, which hides the controller-dependent details. The controller interface (CI) is at the lowest level and specific to the robot controllers being driven by the programming system. The RMP implements the mappings between the API and VCI and between the VCI and CI.