Abstract: A robotic visual servoing system is one of the most important subjects in the field of robots. Its research is significant for developing visual robots applied to industrial applications, aerospace, etc. Aiming at the research on visual servoing robot to manipulate moving objects, this paper firstly, describes several typical control structures and point out their advantages and drawbacks. Then, three important composing parts including image process, motion prediction and control schemes are analyzed, and their state and achievements are discussed. Finally, the developing trend is presented.