A tele-operation system comprising: a manipulator arm configured for robotically moving a distal end effector relative to a proximal base, the manipulator arm having a plurality of joints between the distal end effector and a proximal portion coupled to the proximal base, wherein the plurality of joints provides sufficient degrees of freedom to allow a range of joint states for an end effector state; and a processor coupled to an input device and to the manipulator arm, the processor being configured to perform operations including: calculating a first calculated movement of a first set of joints of the plurality of joints within a null-space of a Jacobian according to a first objective and calculating a second calculated movement of a second set of joints of the plurality of joints within the null-space of the Jacobian according to a second objective, the second objective being different from the first objective; determining a first attribute associated with the first calculated movement and determining a second attribute associated with the second calculated movement; limiting at least one of the first calculated movement and the second calculated movement in proportional relation to a master velocity of a master control input device, wherein the master control input device is configured to receive from a user a command to tele-operationally move the end effector; consolidating the first and second calculated movements in a combined movement of the plurality of joints based on the first and second attributes according to a desired relationship or behavior between the first and second objectives; and driving the plurality of joints to effect the combined movement of the plurality of joints. a manipulator arm configured for robotically moving a distal end effector relative to a proximal base, the manipulator arm having a plurality of joints between the distal end effector and a proximal portion coupled to the proximal base, wherein the plurality of joints provides sufficient degrees of freedom to allow a range of joint states for an end effector state; and a processor coupled to an input device and to the manipulator arm, the processor being configured to perform operations including: calculating a first calculated movement of a first set of joints of the plurality of joints within a null-space of a Jacobian according to a first objective and calculating a second calculated movement of a second set of joints of the plurality of joints within the null-space of the Jacobian according to a second objective, the second objective being different from the first objective; determining a first attribute associated with the first calculated movement and determining a second attribute associated with the second calculated movement; limiting at least one of the first calculated movement and the second calculated movement in proportional relation to a master velocity of a master control input device, wherein the master control input device is configured to receive from a user a command to tele-operationally move the end effector; consolidating the first and second calculated movements in a combined movement of the plurality of joints based on the first and second attributes according to a desired relationship or behavior between the first and second objectives; and driving the plurality of joints to effect the combined movement of the plurality of joints. calculating a first calculated movement of a first set of joints of the plurality of joints within a null-space of a Jacobian according to a first objective and calculating a second calculated movement of a second set of joints of the plurality of joints within the null-space of the Jacobian according to a second objective, the second objective being different from the first objective; determining a first attribute associated with the first calculated movement and determining a second attribute associated with the second calculated movement; limiting at least one of the first calculated movement and the second calculated movement in proportional relation to a master velocity of a master control input device, wherein the master control input device is configured to receive from a user a command to tele-operationally move the end effector; consolidating the first and second calculated movements in a combined movement of the plurality of joints based on the first and second attributes according to a desired relationship or behavior between the first and second objectives; and driving the plurality of joints to effect the combined movement of the plurality of joints.