A method and apparatus for operating a robotic control system including amasterapparatus in communication with an input device having a handle and a slavesystemhaving a tool including an end effector whose position and orientation isdetermined inresponse to a position and orientation of the handle. The method involvesproducing adesired end effector position and orientation in response to a currentposition and acurrent orientation of the handle. The method also involves causing the inputdevice toprovide haptic feedback that impedes translational movement of the handlewhilepermitting rotational movement of the handle and preventing movement of theendeffector, when a rotational alignment difference between the handle and theend effectormeets a first criterion. The method further involves re-enabling translationalmovementof the handle when the rotational alignment difference meets a secondcriterion.
