Devices, systems, and methods for providing increased range of movement of the end effector of a manipulator arm having a plurality of joints with redundant degrees of freedom. Methods include defining a position-based constraint within a joint space defined by the at least one joint, determining a movement of the joints along the constraint within a null-space and driving the joints according to a calculated movement to effect the commanded movement while providing an increased end effector range of movement, particularly as one or more joints approach a respective joint limit within the joint space.
