Abstract: The control of uncalibrated robotic hand-eye coordination is studied and a method that adopts Adaptive Genetic Algorithm(AGA) to choose and optimize parameters of the Auto Disturbance Rejection Controller(ADRC) is proposed,which well solves the problem of adjusting its over-abundant parameters.Uncalibrated visual tracking control of a six degree-of-freedom robot and visual orientatation of a Motoman-SV3XL robot are realized by two first-order ADRCs with the same structure.Experimental results prove the feasibility and validity of the algorithm.