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To enable the space manipulator to complete the original task efficiently after any single joint fails, a fault-tolerant path planning method for the manipulator with single joint failure is proposed based on dexterity space in this paper. On the base of solving the degraded workspace, the dexterity space of the manipulator with single joint failure is established by constructing the dexterity index, and then the traditional A* algorithm is improved to complete fault-tolerant path planning in the dexterity space. The correctness and validity of fault-tolerant path planning based on improved A* algorithm are verified by simulating experiments with 7R manipulator.

Fault-Tolerant Path Planning of the Space Manipulator with Single Joint Failure Based on the Dexterity Space