A teleoperational system comprising: a first manipulator (104, 106, 344, 360, 382) configured to support an instrument (320, 340, 388, 404, 504, 506) moveable within an instrument workspace, the instrument (320, 340, 388, 404, 504, 506) having an instrument frame of reference (450-453, 552); an operator input device (102, 204) configured to receive a movement command from an operator; and a control system configured to implement the movement command by: comparing an orientation of the instrument (320, 340, 388, 404, 504, 506) with an orientation of a central axis of a camera providing a field of view of the instrument workspace to determine an orientation difference between the orientation of the instrument (320, 340, 388, 404, 504, 506) and the orientation of the central axis of the camera, when the orientation difference is less than an orientation difference threshold t, causing instrument motion in a first direction relative to the instrument frame of reference (450-453, 552) in response to the movement command, and when the orientation difference is greater than or equal to the orientation difference threshold, causing instrument motion in a second direction relative to the instrument frame of reference (450-453, 552) in response to the movement command, wherein the second direction differs from the first direction. a first manipulator (104, 106, 344, 360, 382) configured to support an instrument (320, 340, 388, 404, 504, 506) moveable within an instrument workspace, the instrument (320, 340, 388, 404, 504, 506) having an instrument frame of reference (450-453, 552); an operator input device (102, 204) configured to receive a movement command from an operator; and a control system configured to implement the movement command by: comparing an orientation of the instrument (320, 340, 388, 404, 504, 506) with an orientation of a central axis of a camera providing a field of view of the instrument workspace to determine an orientation difference between the orientation of the instrument (320, 340, 388, 404, 504, 506) and the orientation of the central axis of the camera, when the orientation difference is less than an orientation difference threshold t, causing instrument motion in a first direction relative to the instrument frame of reference (450-453, 552) in response to the movement command, and when the orientation difference is greater than or equal to the orientation difference threshold, causing instrument motion in a second direction relative to the instrument frame of reference (450-453, 552) in response to the movement command, wherein the second direction differs from the first direction. comparing an orientation of the instrument (320, 340, 388, 404, 504, 506) with an orientation of a central axis of a camera providing a field of view of the instrument workspace to determine an orientation difference between the orientation of the instrument (320, 340, 388, 404, 504, 506) and the orientation of the central axis of the camera, when the orientation difference is less than an orientation difference threshold t, causing instrument motion in a first direction relative to the instrument frame of reference (450-453, 552) in response to the movement command, and when the orientation difference is greater than or equal to the orientation difference threshold, causing instrument motion in a second direction relative to the instrument frame of reference (450-453, 552) in response to the movement command, wherein the second direction differs from the first direction.