This paper presents a new approach to controlling a robot from video-feedback. In contrast to classical approaches, the entire system is modeled by means of projective geometry. For the robot?s geometry in particular, we introduce a new formalism ?projective kinematics?. As a result, motions in joint- and image-space can be related without metric calibration, and a corresponding visual control law can be derived. We present experiments for projective robot calibration and visual servoing, both using uncalibrated cameras.