中文摘要：

对于水平3自由度欠驱动机器人的末端轨迹跟踪，两主动关节同时耦合控制被动关节是研究的一个难点。文章以以模糊控制为理论基础，采用多输出控制策略，编制出了多输出模糊控制器，在水平3自由度欠驱动机械臂实验台上进行末端轨迹控制，实现了两主动关节同时耦合控制被动关节的目的。所得试验结果与单输出控制策略的末端轨迹控制进行了对比分析，结果表明，多输出控制比单输出控制有更高的控制精度。

英文摘要：

Control of the free joint coupled by two active joints, is difficult in the study of trajectory tracking of the underactuated robot. Based on a fuzzy control theory and joint coupling strategy, joint coupling is designed. The experiment of trajectory is realized in the 3R planar underactuated robot with one free join coupling by the two active joint. Compared with single joint coupling result, the higher of joint coupled system is presented.