If the initial position of the robot is such that the desired end position of the end-effector is out of the reach of the robot, an extra spacecraft maneuver is necessary. This example is show in the second video below.
The solution shown in the second video has been optimized for the energy of the spacecraft. This makes use of a base solution provided by the free-floating dynamics of the system and of an additional term to allow for adjustments in the spacecraft motion to reach the final destination.