This article discusses the stability control challenge for the prismatic-rotational planar underactuated robot. Initially, the manipulator is constructed system models and analysed structural characteristic. The study introduces a trajectory planning and tracking approach aimed at stabilizing the robot’s movement from any starting position to a desired endpoint. A two-phase trajectory plan is devised, with the initial phase focusing on prismatic joint movement. As the prismatic joints follow the first-phase trajectory, they achieve the intended angular position. The second phase involves planning with the differential evolution algorithm (DEA) for the second prismatic joint. By tracking the second-phase trajectory, the second prismatic joint eventually reverts to the desired angle. Concurrently, the rotational joint is controlled to attain the desired angle. A sliding mode controller is designed to guarantee the rotational joint follows the planned trajectory and that each joint reaches its respective target angle. The effectiveness of the designed control method is ultimately confirmed through experimental simulations.