Recently, visual servoing a task object for a robot arm with an eye-in-hand has dawn an interesting attention in an actuation of robot arm using by Point-To-Point method. In the case of changing the geometric information of a task object, the desired image feature must be changed in the visual servoing based on image feature. To overcome this difficulty, this paper proposes that a image feature is not an area and edge of a task object which is dependent on the geometric of a task object, but an image defocusing which is dependent on the character of a camera. For the sake of it, we define an image defocusing, show the variation of image defocusing according to depth and define the jacobian matrix based on that of it. The effectiveness of the proposed algorithm is verified through an experiment. The results show that it is possible visual servoing of robotic manipulation based on image defocusing in real time.
