Abstract: Aiming at the case that the target may move along an arbitrary trajectory, that may not cross the ``guaranteed workspace''(GSW), we propose a coordinated planning and control (CPC) method to generate the motions of the base attitude and manipulator joints for autonomous rendezvous with and capturing the moving target. Firstly, the target's trajectory is predicted according to the measurements of the hand-eye camera, and the ``optimal rendezvous attitude'' of the base and the ``optimal capturing configuration'' of the manipulator are determined. Then, the trajectories of the base attitude and the joint angles are planned. Lastly, the coordinated controllers are designed to drive the base and the joints to follow the desired motions for capturing the moving target with the ``optimal rendezvous attitude'' and the``optimal capturing configuration''. Simulation results have verified the proposed method.