robotic and / or surgical devices , systems , and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use . one or more kinematic linkage sub - systems may include joints that are actively driven , passive , or a mix of both . a set - up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system . the user may articulate the joint by manually pushing against the linkage with a force , torque , or the like that exceeds a manual articulation threshold . articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system . the system may sense completion of the reconfiguration from a velocity of the joint falling below a threshold , optionally for a desired dwell time . the system may provide a detent - like manual articulation that is not limited to mechanically pre - defined detent joint configurations . embodiments of the invention provide , and can be particularly well - suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system or the like without having to add additional input devices .