Fault　tolerant　motion　planning　of　two　coordinating　manipulators　for　locked　joint　failures　is　studied.　At　first,　the　kinematic　equations　of　two　coordinating　manipulators　are　developed　and　the　calculation　procedure　of　fault　tolerant　workspace　is　given.　Then,　the　centrality　measure　that　indicates　the　relative　position　relation　between　the　trajectory　of　end-effector　and　fault　tolerant　workspace　is　formulated.　Based　on　this　measure,　a　fault　tolerant　planning　algorithm　for　the　coordinating　manipulation　of　two　redundant　manipulators　is　proposed.　This　algorithm　can　determine　the　optimal　initial　position　of　the　grasped　object　and　thus　realize　fault　tolerant　operation　both　at　failure　moment　and　after　the　failure.　Finally,　the　simulation　researches　for　two　planar　3R　manipulators　demonstrate　the　validity　of　this　proposed　algorithm.