Note: OCR errors may be found in this Reference List extracted from the full text article. ACM has opted to expose the complete List rather than only correct and linked references.

	ADAMS, 1987	Mechanism Dynamics, Inc., Ann Arbor, Michigan. ADAMS Users Manual, 1987.
	Borning, 1979	Alan Hamilton Borning, Thinglab--a constraint-oriented simulation laboratory., 1979
	Buchberger et al., 1983	B. Buchberger , George E. Collins , Rudiger Loos , Rudolf Albrecht, Computer algebra: symbolic and algebraic computation (2nd ed.), Springer-Verlag New York, Inc., New York, NY, 1983
	Faltings, 1989	Boi Faltings. Reasoning about kinematic topology. In Proceedings of the International Jolut Conf~rcr~cc on Artificial Intclllgcucc, Dctrolt, Michigan, August 1989.
	Hamilton, 1969	W. R. Hamilton. Elements of qualernions. Chelsea, New York, 1969.
	Hartenberg and Denavit, 1964	R. S. Hartenberg and J. Denavit. Kinematic Synthesis of Linkages. Mc- Graw Hill, New York, 1964.
	Joskowicz, 1987	Leo Joskowicz. Shape and function in mechanical devices. In Proceedings of the National Conference on Artificial Intelligence, Seattle, Washington, August 1987.
	Kramer and Barrow, 1989	Glenn A. Kramer and Harry G. Barrow. New approaches to linkage synthesis. In International Joint Conference on Artificial Intelligence (video track), Degroi~, Michigan, August 1989.
	Kramer, 1990	Glenn A. Kramer. Geometric Reasoning in the Kinematic Analysis of Mechanisms. Dphil thesis, University of Sussex, Brighton, UK, October 1990.
	Liu and Popplestone, 1990	Yanxi Liu and Robin J. Popplestone. Symmetry constraint inference in assembly planning: Automatic assembly configuration specification. In Proceedings of the National Conference on Artificial Intelligence, pages 1038-1044, Boston, Massachusetts, 1990.
	Peitgen and Richter, 1986	H.-O. Peitgen and P. H. Richter. The Beauty of Fraclals: Images of Complez Dynamical Systems. Springer-Verlag, Berlin, 1986.
	Popplestone et al., 1980	R.J. Popplestone, A_ P. Ambler, and I. M. Bellos. An interpreter for a language for describing assemblies. Artificial Intelligence, 14(1):79-107, August 1980.
	Popplestone, 1987	R. J. Popplestone, The Edinburgh Designer System as a Framework for Robotics or the Design of, University of Massachusetts, Amherst, MA, 1987
	Press et al., 1986	William H. Press , Brian P. Flannery , Saul A. Teukolsky , William T. Vetterling, Numerical recipes: the art of scientific computing, Cambridge University Press, New York, NY, 1986
	Reuleaux, 1876	M. M. Reuleaux. The Kinematics of Machinery. Macmillan & Co., New York, 1876. Translated by Alex B. W. Kennedy.
	Rossignac, 1986	Jaroslaw R. Rossignac, Constraints in constructive solid geometry, Proceedings of the 1986 workshop on Interactive 3D graphics, p.93-110, January 1987, Chapel Hill, North Carolina, United States  [doi>10.1145/319120.319129]
	Snyder, 1985	Wesley E. Snyder, Industrial Robots: Computer Interfacing and Control, Prentice Hall PTR, Upper Saddle River, NJ, 1985
	Sutherland, 1963	Ivan E. Sutherland. Sketchpad: A Man-Machine Graphical Communication System. PhD thesis, MIT, Cambridge, Massachusetts, 1963.
	Wang, in preparation	Bin Wang, An operational approach for geometric constraint satisfaction, University of Southern California, Los Angeles, CA, 1992

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