In　this　paper,　the　minimum　joint　torque　jump　measure　is　proposed　and　the　dynamical　fault-tolerant　property　of　redundant　robots　is　researched.　At　different　locked　moment,　the　joint　torque　based　on　the　expression　of　joint　torque　jump　is　derived.　Then　the　difference　between　minimum　joint　torque　jump　solution　and　minimum　joint　velocity　jump　solution　is　mathematically　analyzed.　The　result　indicates　that　the　minimum　joint　velocity　jump　solution　is　effective　to　control　the　end-effectors　errors　in　the　case　of　lower　velocity,　otherwise　the　minimum　joint　torque　jump　solution　is　necessary.　Finally,　a　simulation　example　for　a　planar　3R　redundant　robot　is　presented.