Underactuated　manipulator　is　one　kind　of　second　order　nonholonomic　dynamics　systems.　How　to　control　this　system　is　still　an　open　problem.　This　paper　proposes　a　fuzzy　strategy　to　control　three　DOF　underactuated　manipulator　with　a　last　passive　joint.　Four　measures　are　selected　to　construct　the　fuzzy　logic　controller.　The　four　measures　are　divided　into　two　classes;　one　class　is　concerning　first　link,　another　class　concerning　the　second　link.　Four　fuzzy　logic　processors　are　designed　to　deal　with　the　measure　errors,　respectively.　The　four　fuzzy　logic　processors　are　also　divided　into　two　classes　according　to　the　two　measure　classes.　Then,　the　processed　results　from　the　four　processors　are　composed　to　produce　control　signs　to　compensate　the　errors　occurring　in　the　manipulator　motion.　This　method　simplifies　the　design　of　the　fuzzy　logic　controller.　Finally,　numerical　simulation　verifies　the　fuzzy　controller.