Inverse kinematic resolving in hyper-redundant truss manipulator path plan is a non-linear optimization problem. Truss maniplulator has high redundant and fault tolerant

but due to low convergence and rate of traditional algorithms

redundancy and fault tolerance are not well utilized. To solve this problem

a fast interior point algorithm is implemented. To reduce high memory cost

a sparse matrix-vector multiplication（ Sp MV）-based memory-decreasing algorithm is introduced. Simulation platform is built. Three simulation resolving are conducted for both normal and fault conditions. The results indicate the methed has good convergence

fast resolving rate

and inverse kinematics resolving under fault condition as well

suits for practical implementation.