Maintaining geometric dependencies in an assembly planner

The problem of generating assembly sequences strictly from the geometry of a goal assembly is addressed. The planner considers 2-D, polygonal parts and makes the usual assumptions about the monotony of partial assemblies, which allows an `and/or´ graph representation to be used. The problem of decreasing the number of geometric checks which must be done to test candidate assembly operations is also addressed. This is accomplished by replacing them with dependency checks which try to reuse previous geometric computations. The results of several experiments are shown