Vision-based robot control is a general methodology that consists in controlling the motions of a robot in closed loop with respect to visual data. The lecture will describe the different modeling steps necessary to design kinematics control schemes and a panel of applications showing the large class of robotics tasks that can be accomplished using this methodology. In a first part, the traditional approach based on geometric visual features, such as image points, image moments, or camera-object pose will be described. The more recent dense approach that directly uses the image content without any image tracking nor matching process will be also considered, providing a link to CNN modern methods that use the same inputs.