Abstract: This paper presents a new planning and control strategy for trajectory tracking by using tracking errorin taskoriented coordinateo spacc. The planning scheme is based on the fact that the end effector velocityin the task-oriented coordinates space can be expressed by a linear combination of joints' velocities and al-so relies on sliding mode control scheme. As result, it changes the manipulator's planning problem from annonlinear programming problem into a linear programming problem. It can be adopted for redundantmanipulator as well. This approach integrates planning & control into an unified process using tracking error in task-oriented coordinates space. Such an approach of control can achieve much better dynamic per-formances. It is shown the scheme is robust to parameter's uncertainty and initial positioning.