Abstract: The relationship of manipulability between the redundant manipulator and its alt sub-manipulators is formulat-ed on the basis of dexterous analysis, The disctission about relative manipulability is follovved, Furthenuore, according to the manipulability of sub-manipiilntors and corresponding relft-tive sub-manipulators, a new optimizing object for kinematic fault tolerance is presented. The algorithm is charncterized by less computation, rent-time implementation and capability of keeping joint velocity continuity. The proposed object suits for one joint or multi-joint failurc. The validity of the proposed algorithm is demonstrated by (lie simulntion result.

Key words: Multi-joint failure Fault-tolerant eri teri? Fault-tolerant optimizing algorithm, Redundant manipulntors