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为机器人多指协调操作建立一递阶控制系统．给定一操作任务，任务规划器首先生成一系列物体的运动速度；然后，协调运动规划器根据期望的物体运动速度生成期望的手指运动速度和期望的抓取姿态变化；同时，抓取力规划器为平衡作用在物体上的外力，根据当前的抓取姿态，生成各手指所需的抓取力；最后，系统将手指的期望运动速度与为实现期望抓取力而生成的顺应速度合并，并通过手指的逆雅可比转化为手指关节运动速度后，由手指的关节级运动控制器实现手指的运动和抓取力的控制．该控制方法已成功应用于香港科技大学（ＨＫＵＳＴ）灵巧手控制系统的开发．实验证明该方法不仅能完成物体轨迹的跟踪控制任务，而且能完成物体对环境的力控制和力与速度的混合控制．
A multi-finger robot coordinated operation to establish a control system. Given an operational task, the mission planner first generates a series of motion velocities of the objects; then, the coordinated motion planner generates the desired finger motion velocities and the desired grab attitude changes based on the desired object motion velocities; at the same time, In order to balance the external force acting on the object, the gripping force of each finger is generated according to the current gripping gesture. Finally, the system combines the expected moving speed of the finger with the compliance speed generated for realizing the desired gripping force, And through the fingers of the anti-Jacques than into the speed of the movement of the finger joints, by the finger joint-level motion controller to achieve the control of finger movement and grip force. The control method has been successfully applied to the development of dexterous hand control system of Hong Kong University of Science and Technology (HKUST). Experimental results show that this method can not only accomplish the task of tracking control of the object trajectory, but also accomplish the force control of the object and the hybrid control of force and speed.