1. A method of commanding a linkage to move an end body in a work space, the method comprising using a machine-based controller to: compute a manipulator Jacobian given a nominal linkage command; compute a normalized Jacobian from the manipulator Jacobian, a joint space normalizing matrix Q, and an error space normalizing matrix E; and use the normalized Jacobian and the Q and E matrices to produce a software compensation command to command a linkage to move an end body in a work space.