Fault-tolerant type motion planning method of redundancy mechanical arm

The invention provides a fault-tolerant type motion planning method of a redundancy mechanical arm, which comprises the following steps of: (1) determining a deadlocked joint caused by occurrence of a fault, and establishing a fault-tolerant type redundancy analysis scheme based on a secondary plan, wherein minimum performance indexes of the analysis scheme design are a speed vector, repeated motion or kinetic energy, a speed-restricted Jacobi matrix equation, joint velocity limit and joint angle limit, and the joint velocity limit changes as a joint angle changes; (2) solving the fault-tolerant type redundancy analysis scheme based on the secondary plan in the step (1) by using a numerical method; and (3) transmitting the solution of the step (2) to a lower computer controller to drive the mechanical arm to complete a given terminal task. The method is characterized in that: the automatic fault-tolerant processing can be performed and the given terminal task can be completed just by knowing the serial number and the locked angle of the deadlocked joint caused by occurrence of the fault.