A method and apparatus for controlling the movement of an end point of an articulated arm in the x, y and z directions using a manually operated resolved motion control by controlling the component of velocity of the end point in each of the x, y and z directions to change by the same amount for a given change in the component of displacement of the manual controller in the respective x, y and z directions provided the total displacement in the selected x, y or z direction is less than a preselected displacement in the respective x, y or z direction and the end point is within a preselected work space. The velocity of the end point in any one of the x, y and z directions when the total displacement of the manual controller in the respective x, y or z direction is greater than the preselected displacement changes at a ratio of end point speed to change in the component of controller displacement that is independent of the ratio of controller displacement to end point speed in at least one of the other of the x, y or z directions.