Abstract: This paper presents a hierarchical control system for robot multifingered coordinate manipulation. Given a manipulation, the task planner generates a sequence of object's motion velocities at first, and then generates for coordinate motion the desired velocities of finger's motion and desired orientation change of the grasped object according to the desired velocities of object's motion. At the same time, the force planner generates the grasp forces on the fingers in order to resist the external forces on the object ,according to the grasp posture. Finally, the system generates a result compliance velocity from both the desired finger's velocities and desired grasp forces, and transfers it into joint velocites through the finger's inverse Jacobian. Then the controller of joint motion implements the control of both forces and velocities for the fingers. The approach has been applied to the development of control system HKUST dexterous hand successfully. Experiment results show that it is not only possible to trail and control the object's track ,but also possible to realize force control and the hybrid control of both forces and velocities through this method.