Simulation results show that the above method is suitable for redundant robot kinematical planning before and after a failure . also , some new problems after free - swinging joint failures are pointed out . combined with the interesting topics in this field , these unsolved problems are discussed in this article 结合冗余度机器人容错研究发展的一些方向，例如保证机器人末端轨迹上某些点不发生误差等等，对本文所研究的内容进行了拓宽，对故障后机器人运动规划所面临的一些新问题进行了有益的探讨。
