This paper focuses on the assembly planning process for constructing polygonal furniture (such as cabinets, speakers, bookshelves, etc.) using robotic arms and manipulators. An algorithm is described that utilizes easily-implemented and generally-accepted motion planning algorithms to take advantage of the polygonal nature of the furniture, which reduces the complexity of the assembly planner. In particular, the algorithm disassembles a given CAD model in simulation to find a valid assembly order and disassembly path, then implements that assembly order with two robotic arms, using the disassembly path as the finishing path of the part into the assembly. Additionally, it finds a collision-free plan developed for each of the arms in the correct assembly order with the final result being the assembly of the model.

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