This paper addresses the integration of task planning and motion control in robotic manipulation, where automatically generated feasible manipulation sequences are executed by a controller that explicitly accounts for the task geometric constraints. To cope with the high dimensionality of the manipulation problem and the complexity of specifying the tasks, we use a multi-layered framework for task and motion planning adapted from the literature. The adapted framework consists of a high-level

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... nner, which generates task plans for linear temporal logic specifications, and a low-level motion controller, based on constrained optimization, that allows to define regions of interest instead of exact locations while being reactive to changes in theworkspace. Thus, there is no low-level motion planning time added to the total planning time. Moreover, since there is no replanning phase due to motion planner failures, the robot actions are generated only once for each task because the search for a plan occurs on a static graph. We evaluated this approach with two pick-and-place tasks with similar complexity to the original framework and showed that the number of plan nodes generated is smaller than the one in the original framework, which implies less total planning time.