Abstract: Systems, methods, and guidance techniques for guiding placement of a robotic manipulator relative to an anatomy. A localizer tracks the robotic manipulator and the anatomy. Controller(s) obtain workspace parameters of the robotic manipulator and capture, from the localizer, a current state of the robotic manipulator relative to the anatomy. The controller(s) capture, from the localizer, states of the anatomy in response to movement of the anatomy according to a prescribed manner or a predetermined manner and determine operative parameters of the anatomy based on the captured states. The controller(s) compare the workspace parameters to the operative parameters to determine a desired state for the robotic manipulator relative to the anatomy, whereby the workspace parameters of the robotic manipulator have an acceptable relationship with respect to the operative parameters of the anatomy. The controller(s) guide placement of the robotic manipulator from the current state to the desired state.