Control　of　an　underactuated　manipulator　by　fuzzy　control　method　is　investigated　in　this　paper.　The　joint　angular　errors　are　directly　feedbacked　to　the　inputs　of　the　fuzzy　system.　The　MIMO　fuzzy　controller　is　decoupled　into　sub　SISO　systems　for　simplification　of　the　design　of　the　system.　Numerical　simulation　for　the　position　control　of　a　planar　3RR　(R)　over　bar　was　presented　for　verification　of　the　proposed　method.