Abstract: Fault tolerant motion planning of two coordinating manipulators for locked joint failures is studied. At first, the kin-ematic equations of two coordinating manipulators are develop-ed and the calculation procedure of fault tolerant workspace is given. Then, the centrality measure that indicates the relative position relation between the trajectory of end-effector and fault tolerant workspace is formulated. Based on this new mea- sure, a fault tolerant planning algorithm for the coordinating ma- nipulation of two redundant manipulators is proposed. This alp- orithm can determine the optimal initial position of the grasped object and thus realize fault tolerant operation both at failure mo-ment and after the failure. Finally, the simulation researches for two planar 3R manipulators demonstrate the validity of this pro-posed algorithm.

Key words: Coordinating manipulation, Fault tolerant motion planning, Redundant manipulator