Compared　with　the　unmanned　aerial　vehicle　(UAV),　the　aerial　manipulator　extends　the　ability　to　interact　with　the　environment　by　using　the　onboard　manipulator.　The　complex　dynamic　characteristics　of　the　combined　system　increase　the　challenges　of　accurately　control　the　aerial　manipulator　to　approximate　the　target　object.　In　this　paper,　an　onboard-eye-to-hand　visual　servo　and　task　coordination　control　strategy　is　proposed　for　the　aerial　manipulator　to　enhance　the　accurate　manipulation　and　flight　stability.　By　establishing　a　new　spherical　coordinate　error　equation,　the　flying　platform　(quadrotor)　and　onboard　manipulator　can　be　controlled　simultaneously.　Meanwhile,　the　multi-task　coordinated　control　scheme　is　adopted　to　achieve　precise　positioning　and　grasping　of　the　target　object,　including　estimating　the　object　pose,　dynamically　compensating　the　change　of　the　center　of　gravity　of　the　aerial　manipulator,　and　avoiding　the　onboard　manipulator　joint　limitations.　The　stability　of　the　closed-loop　system　is　analyzed　by　the　Lyapunov　method.　Finally,　the　feasibility　of　the　proposed　visual　servo　method　is　verified　in　simulations　and　real-world　outdoor　experiments,　respectively.　The　strengths　of　the　proposed　method　are　demonstrated　by　comparing　it　with　the　conventional　visual　servo　method.　©　2022　Elsevier　Ltd