Abstract: Based on the research on robot uncalibrated visual servoing control method using principle of auto disturbance rejection controller,a new robot uncalibrated visual servoing control method with double-loop structure based on auto disturbance rejection is presented.Online identification of the image Jacobian matrix using Kalman filter is performed in the inner loop for approximating the actual visual mapping model.The auto disturbance rejection controller is adopted in the outer loop,and a nonlinear extended state observer is used to estimate and compensate dynamically the system's disturbance for the estimated model.Tracking experiments with 2D moving objects are carried out in a 6DOF industrial robot.Experimental results show the feasibility and validity of this method.