In this note, H-infinity tuning problem for task-space feedback control of robot with uncertain kinematics and Jacobian matrix from joint space to task space is formulated and solved. H-infinity tuning methods are presented for two task-space feedback controllers when the systems are subject to external disturbance. It is shown that the conditions for the establishment of H-infinity tuning can be obtained in simple forms without solving the Hamilton-Jacobi inequalities even in the presence of kinematics uncertainty.