A robotic system comprising: a manipulator arm configured for robotically moving a distal portion relative to a proximal base, the manipulator arm having a plurality of joints (J1-J5) between the distal portion and a proximal portion coupled to the base, the plurality of joints (J1-J5) providing sufficient degrees of freedom to allow a range of joint states for the plurality of joints (J1-J5) for a given state of the distal portion; a reconfiguration input device for receiving a reconfiguration command to move a first set of joints of the plurality of joints (J1-J5) between the base and the distal portion with a desired reconfiguration movement, wherein the reconfiguration command is different from a manipulation command to move the distal portion with a desired distal portion movement; a processor coupled to the reconfiguration input device and to the manipulator arm, the processor configured to calculate a reconfiguring movement in response to the reconfiguration command, wherein calculating the reconfiguring movement comprises calculating joint velocities of the plurality of joints (J1-J5) within a null-space of a Jacobian of the manipulator arm, the null-space of the Jacobian corresponding to a maintained state of the distal portion, and the processor configured to drive the plurality of joints (J1-J5) according to the calculated reconfiguring movement; and a manipulation input device for receiving the manipulation command to move the distal portion with the desired distal portion movement, wherein the processor is further configured to calculate a distal portion displacing movement of the plurality of joints (J1-J5) in response to the manipulation command, wherein calculating the distal portion displacing movement of the plurality of joints (J1-J5) comprises calculating joint velocities within a null-perpendicular-space of the Jacobian, the null-perpendicular-space being orthogonal to the null-space, and wherein the processor is further configured to drive the plurality of joints (J1-J5) according to the calculated distal portion displacing movement of the plurality of joints (J1-J5) so as to effect the distal portion displacing movement. a manipulator arm configured for robotically moving a distal portion relative to a proximal base, the manipulator arm having a plurality of joints (J1-J5) between the distal portion and a proximal portion coupled to the base, the plurality of joints (J1-J5) providing sufficient degrees of freedom to allow a range of joint states for the plurality of joints (J1-J5) for a given state of the distal portion; a reconfiguration input device for receiving a reconfiguration command to move a first set of joints of the plurality of joints (J1-J5) between the base and the distal portion with a desired reconfiguration movement, wherein the reconfiguration command is different from a manipulation command to move the distal portion with a desired distal portion movement; a processor coupled to the reconfiguration input device and to the manipulator arm, the processor configured to calculate a reconfiguring movement in response to the reconfiguration command, wherein calculating the reconfiguring movement comprises calculating joint velocities of the plurality of joints (J1-J5) within a null-space of a Jacobian of the manipulator arm, the null-space of the Jacobian corresponding to a maintained state of the distal portion, and the processor configured to drive the plurality of joints (J1-J5) according to the calculated reconfiguring movement; and a manipulation input device for receiving the manipulation command to move the distal portion with the desired distal portion movement, wherein the processor is further configured to calculate a distal portion displacing movement of the plurality of joints (J1-J5) in response to the manipulation command, wherein calculating the distal portion displacing movement of the plurality of joints (J1-J5) comprises calculating joint velocities within a null-perpendicular-space of the Jacobian, the null-perpendicular-space being orthogonal to the null-space, and wherein the processor is further configured to drive the plurality of joints (J1-J5) according to the calculated distal portion displacing movement of the plurality of joints (J1-J5) so as to effect the distal portion displacing movement.