This　article　addresses　the　problem　of　autonomous　servoing　control　of　an　unmanned　aerial　manipulator　with　the　capability　of　grasping　target　objects　using　computer　vision.　Specifically,　a　practical　visual　servo　control　using　a　spherical　projection　model　is　proposed.　The　aerial　manipulator　is　an　unmanned　aerial　vehicle　equipped　with　a　robotic　arm　that　greatly　increases　the　freedom　and　operational　flexibility　of　the　end-effector.　However,　it　also　increases　the　complexity　of　the　kinematics,　dynamics,　and　control　design　of　the　complete　system.　A　novel　passivity-like　error　equation　of　the　image　features　is　established　by　using　the　spherical　camera　geometry　dynamics　with　an　eye-in-hand　configuration.　To　further　improve　the　grasping　performance,　a　task-priority　control　scheme　is　utilized　with　one　main　task　and　several　subtasks,　i.e.,　controlling　the　gripper　position　and　orientation,　vertically　aligning　the　center　of　gravity,　and　avoiding　the　joint　limitation.　Simulation　results　are　provided　to　illustrate　and　assess　the　performance　of　the　proposed　visual　servo　control.　The　practicability　and　effectiveness　of　autonomous　aerial　manipulation　are　well　supported　by　the　experimental　results　acquired　through　outdoor　environments.　©　1982-2012　IEEE.