【摘要】 根据手指和物体间相互作用的关系，把控制任务进行分解，每个手指作为一个子系统，由低层控制器控制，各子系统由协调层协调，各控制层只完成被分解的较为简单的任务，这种控制结构可以方便地采用多机控制，避免因计算速度太慢而造成的困难，控制算法和控制系统的设计也较为简单。更多还原

【Abstract】 The control task of a multifingered hand is decomposed according to the interaction be-tween the fingers and the object.Each finger is treated as a subsystem and controlled by alower level controller. The subsystems are coordinated by a high level controller. Each con-troller performs only a rather simple task For such a layout,a multiprocessor can be used tocontrol the system. the design of the control algorithm and system is very simple.更多还原