Visual feedback can play a crucial role in a dynamic robotic task such as the interception of a moving target. To utilize the feedback eflectively, there is a need t o develop robot motion planning techniques that also take into account properties of the sensed data. W e propose a motion planning framework that achieves this with the help of a space called the Perceptual Control Manifold (PCMJ defined o n the product of the robot configuration space and a n image-based feature space. W e show how the task of intercepting a moving target can be mapped to the PCM. This leads to the generation of motion plans that satisfy various constraints and optimality criteria derived f r o m the robot kinematics, the control system, and the sensing mechanism.
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