Articulated robotic manipulators play an important role in flexible automation in the workplace. To achieve the objectives of a faster and more efficient robotic work-cell, manipulators must be able to move towards and grasp moving objects in a reliable and efficient manner, without complete prior knowledge of the object’s trajectory. A modular, prediction-based motion-planning system for robotic grasping of moving targets is currently under development. In this paper, two modules of the system, the prediction module and the planning module are described and preliminary results are presented. The interaction of the prediction module with the robot motion planning module as well as future developments for the system are discussed.