First,　two　fault　tolerant　planning　algorithms　with　avoidance　of　joint　static　torque　limit　or　joint　dynamic　torque　limit　are　proposed.　The　former　is　suitable　for　the　low-speed　manipulators,　and　the　latter　is　suitable　for　the　high-speed　manipulators.　These　algorithms　not　only　can　insure　manipulation　tasks　to　lie　within　the　fault　tolerant　workspace　but　also　can　avoid　joint　torque　limit,　and　hence　can　insure　a　redundant　manipulator　to　be　fault　tolerant　in　both　kinematical　sense　and　dynamic　sense.　Then,　the　simulation　examples　for　a　planar　3R　manipulator　demonstrate　the　validity　of　these　algorithms.