A visual servoing method based on image for a 6 DOF robot manipulator was proposed.On the basis of image moments and vector product,Jacobian matrix was introduced to resolve problems in robotic inverse kinematics by building robotic forward kinematics model and inverse kinematics model.Furthermore the composite Jacobian matrix was established,which stands for the mapping relationship between the image characteristic variation and joint angular velocity in Descartes space.The joint angular velocity of the manipulator in visual servoing was obtained from the variation of moments characteristic,ensuring that when the image approximates to the expected one,the manipulator can reach the desired place and the joint angular velocity converges to zero at the same time.The simulation results show that the method proposed to calculate the composite Jacobian matrix can control the manipulator to reach the expected position.