In this paper, we propose an adaptive faulttolerant visual control scheme for robotic manipulators with possible actuator failures in an uncalibrated environment. Most existing visual control approaches for robot system does not take into acount actuator failures, which may prominently a ect the transient performance of the system in practice. In order to moderate the detrimental and adverse e ects of actuator failures on the system, a new adaptive algorithm is proposed to compensate stuck-type failures occurred in actuators. Moreover, by proposing a decoupling method, the uncertain parameter model of actuator failure is successfully separated from the dynamics model while the two models are coupled in most existing results(e.g. , ). And the stability of the dynamic system and the convergence of the image error are proved by the Lyapunov analysis method. Finally, the proposed control scheme is applied to simulation model of 3-DOF manipulator, and the e ectiveness and stability of the controller is veri ed by comparing and analysing the tracking performance of the manipulator under di erent failure parameters.