Devices, systems, and methods for controlling manipulator movements at joint range of motion limits are provided. In one aspect, methods include locking one or more joints of the manipulator when the one or more joints hit a respective joint limit by modifying an input into a Jacobian of the manipulator when calculating joint movement of a master control using inverse kinematics to provide improved, more intuitive force feedback through the master control. In some embodiments, scaling and weighting between different joint movements is applied within the inverse kinematics. In another aspect, methods include applying a constraint within the inverse kinematics so that calculated movement of the joints approach joint movements of an identical kinematic chain with applied loads within an isolated physical system.
