This paper presents an image based visual servoing of 5 degrees-of-freedom (DOF) manipulator not knowing the depth information in advance. In general, visual servoing and plant (robot) control is constructed as single algorithm, combining feature (image) Jacobian with plant Jacobian considering plant dynamics. In this paper, however, we separate visual servoing from plant control. Image information obtained from camera is transformed into angle information by using forward and inverse kinematics and these values are transferred to control module in order to manipulate robot arm. The proposed control system is verified through the experiment.