Jargon

Since several terms are in use, it is better to get familiar with the some of the commonly used jargon in this domain:

1. Visual-motor coordination (VMC) basically makes use of techniques that try to establish a map between the end-effector position (or pose) with the joint angle vector (theta). In this aspect, it can be considered as a static mapping between the task space and the configuration space. Most of the time, it makes use of forward kinematics map of the manipulator.
   
   
2. Visual Servoing (VS): Visual servoing tries to establish a map between the end-effector velocities and the joint angle velocities. It necessitates the knowledge manipulator Jacobian and in some cases may involve manipulator dynamics as well.
   
   
3. Task space (workspace) of the manipulator is the 3-dimensional Cartesian, real world space or volume where the manipulator is supposed to move about and carry out the task.
   
   
4. Configuration space (or joint angle space) of the manipulator is the set of all valid joint angle vectors that would lead to a end-effector position and orientation within the workspace.
   
   
5. Pose of a manipulator is the end-effector position and orientation with respect to a global reference frame. Usually, base frame of manipulator is taken as the global reference frame for all kinds of measurements.