Click mouse in minimap and then move mouse while holding mouse button down.... seems to move just fine for me.
This will move you around in the world/galaxy, not re-position the minimap. I for one have an empire located near the border of the galaxy right now, and ever since I zoomed out, I can't get the map to focus back on my empire when I zoom back in again. I can't figure out how to pan the map towards the edge... Perhaps it is not possible?!