A robot system including: a robot manipulator that includes links interconnected by joints with degrees of freedom that are at least partially redundant to one another; an operating unit configured to detect an input from a user with respect to at least one selected direction of a force; and a control unit configured to receive the input from the operating unit, determine components of a transpose of a Jacobian matrix associated with a respective selected direction for a predetermined position and/or orientation of a distal end of the robot manipulator in a null space such that a first metric based on the components satisfies one of following criteria: unequal to zero, greater than a specified limit, or a maximum, and control the robot manipulator to move a subset of the links in the null space so as to assume a pose according to the components as determined.

A computer-implemented method includes generating a joint-torque-limit model for the articulated arm based on allowable joint torque sets corresponding to a base pose of the base. The method also include receiving a first requested joint torque set for a first arm pose of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set for a second arm pose of the articulated arm and generating an adjusted joint torque set by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.

A computer-implemented method includes generating a joint-torque-limit model for the articulated arm based on allowable joint torque sets corresponding to a base pose of the base. The method also include receiving a first requested joint torque set for a first arm pose of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set for a second arm pose of the articulated arm and generating an adjusted joint torque set by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.