First,　two　fault　tolerant　planning　algorithms　with　avoidance　of　joint　static　torque　limit　or　joint　dynamic　torque　limit　cere　proposed　respectively.　The　former　is　suitable　for　the　low-speed　manipulators,　and　the　latter　is　suitable　for　the　high-speed　manipulators.　These　algorithms　that　keep　both　manipulation　tasks　within　the　fault　workspace　and　avoidance　of　joint　torque　limit　can　make　a　redundant　manipulator　realize　both　kinematical　and　dynamic　fault　tolerant　operations.　Then,　the　simulation　examples　for　a　planar　3R　manipulator　demonstrate　the　validity　of　these　algorithms.