A method of controlling a manipulator withn-degrees of freedom by one actuator andn— 1 brakes using fuzzy inference is described. The manipulator is reduced to have two-degrees of freedom becausen— 2 brakes are applied, so that the switching time of the brakes and the torque of the actuator are obtained. The manipulator is assumed to have uncertainty in the model and fuzzy control is determined by learning the dynamic response of the manipulator. The effectiveness of the proposed method is illustrated by a simple example.