The　sudden　change　of　joint　velocity　in　fault　tolerant　operations　for　two　coordinating　manipulators　is　studied.　A　performance　criterion　with　the　sudden　change　in　joint　velocity　and　corresponding　fault　tolerant　planning　algorithm　are　proposed.　Simulation　examples　show　that　this　algorithm　can　effectively　avoid　the　sudden　change　in　joint　velocity　occurring　in　the　fault　tolerant　operations　of　two　coordinating　manipulators,　increase　their　motion　stability　and　so　improve　their　kinematical　and　dynamic　properties　in　fault　tolerant　operations.　(c)　2005　Elsevier　Ltd.　All　rights　reserved.