In this paper, an adaptive task-space tracking control approach is designed by using the error caused by
manipulator’s dynamic uncertainties and unknown camera calibration parameters. Due to the different uncertainties, the input
signal of controller is designed in two steps. Firstly, an adaptive task-space tracking controller is designed to compensate the
robotic dynamic uncertainty. Then, an adaptive camera calibration controller is established to ensure bounded image-space
tracking error. Finally, an uniform controller is combined by using the errors in both image-space and task-space. Results of
experiments show the effectiveness of the proposed method.