Abstract: A stochastic simulation based chaos quantum honey bee algorithm(CQHBA) is designed for solving the complex stochastic programming problem.A proof of convergence is developed and the convergence speed of the algorithm is analyzed.Through analyzing the uncertainty and system errors of a 6 DOF space robot based on the differential transformation method,a stochastic mathematical model is built.To realize fault tolerance operation before and after the joint failures,the considerations on both kinematical and dynamical restrictions are taken into account.The optimal trajectory of the manipulator all along the work time before and after its joint failure is computed by CQHBA with minimal weighted driver torque as the performance optimization objective.Through lowering the motion velocity of the abnormal joint,the allowed torque of the abnormal joint is reduced.The algorithm guarantees that the manipulator has high manipulability after joint failure moment to accomplish its task successively,and lower the joint torque.A case study is presented to investigate the efficiency,stability and accuracy of the proposed algorithm.