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In order to meet the large number of clinical requirements of endoscopic surgery, higher requirements are put forward for endoscopic cleaning and disinfection. The automatic endoscope cleaning machine is limited by the physical structure, so the transfer parts are designed into a special structure of the manipulator. In order to solve the underactuation problem caused by the swing of vertical rod in the process of moving, the sliding mode control method is adopted to restrain the swing caused by the mechanical structure, and achieve the purpose of fast positioning and anti-swing. Firstly, the mathematical model of the manipulator system is established for the characteristic that the moment of inertia of the vertical rod cannot be ignored. According to the coupling relation between displacement and Angle, the sliding surface and control rate are designed. Then it is proved by LaSalle invariance principle and Lyapunov method that the system reaches the sliding mode surface in finite time and finally becomes asymptotically stable, and the tuning of controller parameters is given. Finally, the experimental results show that the manipulator system, under the action of the controller, can realize the superior effect of fast positioning to the specified position and make the swing range of the vertical rod as small as possible, which has application value for the development of medical equipment.