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A human hand is a very complex grasping tool which can handle object of different sizes and shapes. Many research works have been done to develop an artificial robot hands with similar capabilities to a human hand, such a robot hand is also called a multi finger gripper. Most parts of this research are dedicated to control of multi finger grippers with emphasis on the finger tips or finger joints. By controlling a multi finger gripper, we enable the gripper to handle an object; in another words, controlling a multi finger gripper can be viewed in terms of controlling an object's pose and the forces between the object and its environment. Hence, an object pose controller with feedback from an object pose sensor suits multi finger gripper control. Also due to the non-linear dynamic system behavior in the joints of most multi finger grippers, an effective, easily-adaptable joint controller is employed. The paper discusses the object pose controller with great detail in a new joint controller. Since the joint controller is based on microcontroller and we do not use an exact analytical model for this case.