A six-degree-of-freedom robot with a CCD-camera mounted on its end-effector is operated in a closed loop control system. The aim is to servo the camera on an object which moves freely in 3D space (translation + rotation), so that the image of the object on the camera screen is always the “reference image”, defined by an arbitrary reference position of the object with respect to the camera. Classical mechanics equations are first studied in order to determine the significant parameters of the problem. Then, a control system based on the use of a MultiLayer Perceptron (MLP) is built. Results and comparisons detailing the behavior of the system in different cases (uniform and non-uniform translations and rotations of the object) are presented, and show the interest of the approach vs. classical methods.