A method for the dimensional or geometric inspection of one or more faces of a workpiece hold in a manufacturing fixture, between two manufacturing operations, by means comprising: - a measurement sensor adapted to the acquisition of points on the face of the part subject to the inspection, defined by an acquisition distance, an acquisition volume and an acquisition direction cone from a fixed position; - a robot, capable of holding and moving the sensor; - a computer comprising memory means, computation means and display means, comprising in its memory means a three-dimensional digital model of the part, and capable of recording the coordinates of the points acquired by the sensor characterized by that it comprises steps, implemented by the computer, of: i) obtaining a digital CAD model of the workpiece comprising the face to be inspected and sampling this model in a point cloud by a tessellation of the faces of said CAD model ii) obtaining the characteristics of the sensor; creating a visibility graph, GV, of the workpiece to be inspected by: iii.a) segmenting the digital model of the workpiece into nodes (901... 910), each node being included in the acquisition volume of the sensor and the normal to each of them being inside the acquisition cone of said sensor; iii.b) determining the visibility of each node from each relative position of the sensor with respect to said node; iii.c) determining common visibilities, designated as edges (921... 932), between the nodes, two nodes being connected by an edge when an acquisition, carried out in a fixed relative position of the sensor with respect to the workpiece, makes it possible to simultaneously cover at least a portion of the surface of each of the two nodes; iv) from the visibility graph obtained in step iii) defining a sequence of acquisitions making it possible to cover the face, or the faces, in a reduced number of overlapping acquisitions by defining the path connecting all the nodes of the face, or the faces, by a minimum number of edges in the visibility graph; implementing the acquisition sequence defined in step iv) by means of the robot by moving the measurement sensor or the workpiece on its fixture between the positions allowing the acquisitions sequence to be carried out. - a measurement sensor adapted to the acquisition of points on the face of the part subject to the inspection, defined by an acquisition distance, an acquisition volume and an acquisition direction cone from a fixed position; - a robot, capable of holding and moving the sensor; - a computer comprising memory means, computation means and display means, comprising in its memory means a three-dimensional digital model of the part, and capable of recording the coordinates of the points acquired by the sensor characterized by that it comprises steps, implemented by the computer, of: i) obtaining a digital CAD model of the workpiece comprising the face to be inspected and sampling this model in a point cloud by a tessellation of the faces of said CAD model ii) obtaining the characteristics of the sensor; creating a visibility graph, GV, of the workpiece to be inspected by: iii.a) segmenting the digital model of the workpiece into nodes (901... 910), each node being included in the acquisition volume of the sensor and the normal to each of them being inside the acquisition cone of said sensor; iii.b) determining the visibility of each node from each relative position of the sensor with respect to said node; iii.c) determining common visibilities, designated as edges (921... 932), between the nodes, two nodes being connected by an edge when an acquisition, carried out in a fixed relative position of the sensor with respect to the workpiece, makes it possible to simultaneously cover at least a portion of the surface of each of the two nodes; iv) from the visibility graph obtained in step iii) defining a sequence of acquisitions making it possible to cover the face, or the faces, in a reduced number of overlapping acquisitions by defining the path connecting all the nodes of the face, or the faces, by a minimum number of edges in the visibility graph; i) obtaining a digital CAD model of the workpiece comprising the face to be inspected and sampling this model in a point cloud by a tessellation of the faces of said CAD model ii) obtaining the characteristics of the sensor; creating a visibility graph, GV, of the workpiece to be inspected by: iii.a) segmenting the digital model of the workpiece into nodes (901... 910), each node being included in the acquisition volume of the sensor and the normal to each of them being inside the acquisition cone of said sensor; iii.b) determining the visibility of each node from each relative position of the sensor with respect to said node; iii.c) determining common visibilities, designated as edges (921... 932), between the nodes, two nodes being connected by an edge when an acquisition, carried out in a fixed relative position of the sensor with respect to the workpiece, makes it possible to simultaneously cover at least a portion of the surface of each of the two nodes; iv) from the visibility graph obtained in step iii) defining a sequence of acquisitions making it possible to cover the face, or the faces, in a reduced number of overlapping acquisitions by defining the path connecting all the nodes of the face, or the faces, by a minimum number of edges in the visibility graph;