A tele-surgical system comprising: a manipulator arm configured for robotically moving a distal portion comprising a distal end effector relative to a proximal base, the manipulator arm having a plurality of joints (J1 - J7) between the distal portion and a proximal portion coupled to the base, the plurality of joints (J1 - J7) providing sufficient degrees of freedom to allow a range of joint states for a given state of the distal portion; an input for receiving a manipulation command to move the end effector with a desired end effector movement; and a processor coupled to the input and to the manipulator arm, the processor configured to: calculate an end effector displacing movement of the plurality of joints (J1 - J7) in response to the manipulation command by calculating joint velocities within a null-perpendicular-space of a Jacobian of the plurality of joints (J1 - J7), the Jacobian being the matrix of partial derivatives of Cartesian space position elements of the end effector with respect to joint space position elements, the calculated joint velocities including a displacing movement velocity of a designated non-moving joint included in the plurality of joints (J1 - J7); calculate a cancellation movement of the plurality of joints (J1 - J7) within a null-space of the Jacobian, the calculated cancellation movement including a cancellation movement velocity of the designated non-moving joint configured to cancel the displacing movement velocity of the designated non-moving joint from the end effector displacing movement when the cancellation movement is combined with the end effector displacing movement; and transmit a command to the manipulator arm in response to the end effector displacing movement and the cancellation movement so as to drive the manipulator arm per the manipulation command and inhibit movement of the designated non-moving joint. a manipulator arm configured for robotically moving a distal portion comprising a distal end effector relative to a proximal base, the manipulator arm having a plurality of joints (J1 - J7) between the distal portion and a proximal portion coupled to the base, the plurality of joints (J1 - J7) providing sufficient degrees of freedom to allow a range of joint states for a given state of the distal portion; an input for receiving a manipulation command to move the end effector with a desired end effector movement; and a processor coupled to the input and to the manipulator arm, the processor configured to: calculate an end effector displacing movement of the plurality of joints (J1 - J7) in response to the manipulation command by calculating joint velocities within a null-perpendicular-space of a Jacobian of the plurality of joints (J1 - J7), the Jacobian being the matrix of partial derivatives of Cartesian space position elements of the end effector with respect to joint space position elements, the calculated joint velocities including a displacing movement velocity of a designated non-moving joint included in the plurality of joints (J1 - J7); calculate a cancellation movement of the plurality of joints (J1 - J7) within a null-space of the Jacobian, the calculated cancellation movement including a cancellation movement velocity of the designated non-moving joint configured to cancel the displacing movement velocity of the designated non-moving joint from the end effector displacing movement when the cancellation movement is combined with the end effector displacing movement; and transmit a command to the manipulator arm in response to the end effector displacing movement and the cancellation movement so as to drive the manipulator arm per the manipulation command and inhibit movement of the designated non-moving joint. calculate an end effector displacing movement of the plurality of joints (J1 - J7) in response to the manipulation command by calculating joint velocities within a null-perpendicular-space of a Jacobian of the plurality of joints (J1 - J7), the Jacobian being the matrix of partial derivatives of Cartesian space position elements of the end effector with respect to joint space position elements, the calculated joint velocities including a displacing movement velocity of a designated non-moving joint included in the plurality of joints (J1 - J7); calculate a cancellation movement of the plurality of joints (J1 - J7) within a null-space of the Jacobian, the calculated cancellation movement including a cancellation movement velocity of the designated non-moving joint configured to cancel the displacing movement velocity of the designated non-moving joint from the end effector displacing movement when the cancellation movement is combined with the end effector displacing movement; and transmit a command to the manipulator arm in response to the end effector displacing movement and the cancellation movement so as to drive the manipulator arm per the manipulation command and inhibit movement of the designated non-moving joint.