Despite progress in visual servo control of robot motions, to date the corresponding motion planning problem has not been investigated. In this paper, we present an implemented planner for the special case of a polyhedral world, extending previous preimage type planners to exploit visual constraint surfaces in a fixed-camera robotic system featuring closed-loop visual servo control. We present the mathematics of a hybrid (visual/position feedback) resolved-rate motion control strategy for executing these plans, featuring projection equations defined solely in terms of a small set of observable parameters that are directly obtained from our calibration process. We conclude with experimental results, a description of ongoing research, and the contribution of our work to date.