This study deals with image based visual servoing (IBVS) of robot manipulators in the presence of uncertainties. The proposed control technique is composed of a pre-compensated term, proportional-derivative (PD) controller and a sliding mode controller (SMC) to reach fast, accurate and robust motions. Practical stability of the closed-loop system is guaranteed by using Lyapunov method. Simulation results are used to demonstrate the effectiveness of the proposed controller in the normal and uncertain conditions.
