Uruguay will finalize their Copa America preparations with a friendly against Panama in June. The match will be played at the Centenario Stadium in Uruguayan capital Montevideo on June 7.
The teams have met on just two occasions, with Uruguay winning both times.
Uruguay were drawn in Group C of the Copa America alongside Chile, Ecuador and Japan.
The two-time World Cup winners will make their debut in the continental tournament against Ecuador in Belo Horizonte on June 16.