This　article　proposes　a　visual　servo　control　method　based　on　image　dynamics　for　an　unmanned　aerial　manipulator　(UAM)　combining　an　unmanned　aerial　vehicle　(UAV)　with　a　multidegree-of-freedom　onboard　manipulator.　First,　taking　into　account　the　dynamic　characteristics　of　the　coupled　UAM,　the　dynamic　model　of　the　coupled　system　is　derived.　Then,　based　on　the　perspective　projection　model,　the　appropriate　image　features　are　defined　on　the　virtual　image　plane　to　obtain　decoupled　image　feature　dynamics.　Combining　image　features　dynamics　and　UAM　dynamics,　the　position　and　attitude　controller　of　the　UAM　flying　platform　with　the　center　of　gravity　compensation　is　derived.　Furthermore,　the　image　feature　motion　is　further　applied　to　the　positioning　control　of　the　end-effector　of　the　onboard　manipulator.　In　addition,　the　UAM　motion　distribution　strategy　is　designed　to　coordinate　the　movement　between　the　UAM　flying　platform　and　the　onboard　manipulator.　The　simulation　results　illustrate　the　performance　of　the　proposed　visual　servo　control　based　on　image　dynamics.　As　a　result,　the　trajectories　of　the　feature　points　are　smooth　in　the　real　image　plane,　which　means　the　UAM　movement　is　stable.　Finally,　the　experimental　results　in　an　outdoor　environment　verify　the　practicability　and　effectiveness　of　the　proposed　visual　servo　control　method　for　autonomous　operations.　The　proposed　control　method　manages　the　UAM　from　an　unknown　initial　position　to　the　desired　position,　which　can　be　applied　to　various　types　of　aerial　operations　missions　such　as　object　transmission.　©　1996-2012　IEEE.