Hydraulic multi-fingered hand is a kind of hand driven by hydraulic pressure, while the position control system is important for hydraulic multi-fingered hand tracking planned trajectory, achieving accurate grasping. In order to realize accurate grasping in position by the hand, aimed at the characteristic of hydraulic multi-fingered hand and complexity of actual hydraulic system, started from control of joint, firstly, working principle of position control system in joint was analyzed, then mathematical model of it was established. Finally, fuzzy PID control strategy was introduced, the position control system based on fuzzy PID was designed in detail, and it was simulated with MATLAB. Through the simulation research of MATLAB, which shows that dynamic response performance and steady-state accuracy of the position control system for joint of hydraulic multi-fingered hand based on fuzzy PID are both very well, can satisfy the working requirements for joint of hydraulic multi-fingered hand.