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Second, inspired by the geometry of lines, a generic differential inverse kinematic model according to the proposed generic structure is introduced. Finally, based on the image projection of cylindrical legs, a kinematic vision-based control using legs observation is presented. The approach is illustrated and validated on the Gough\u2013Stewart and Par4 parallel robots.<\/jats:p>","DOI":"10.1017\/s0263574718000784","type":"journal-article","created":{"date-parts":[[2018,8,15]],"date-time":"2018-08-15T04:04:13Z","timestamp":1534305853000},"page":"1874-1896","source":"Crossref","is-referenced-by-count":1,"title":["Contribution to generic modeling and vision-based control of a broad class of fully parallel robots"],"prefix":"10.1017","volume":"36","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6705-9619","authenticated-orcid":false,"given":"Tej","family":"Dallej","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nicolas","family":"Andreff","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5827-0431","authenticated-orcid":false,"given":"Philippe","family":"Martinet","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2018,8,15]]},"reference":[{"key":"S0263574718000784_ref14","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-008-9245-2"},{"key":"S0263574718000784_ref47","doi-asserted-by":"crossref","unstructured":"J. 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