Abstract: Based on Hoff and Arbib s control theory of the minimum jerk, this paper presents a new control model with cerebellar-like structure which is able to account for the temporal coordination of arm transport and hand preshape during reach and grasp tasks. And it is suggested that how the structure can learn the two key functions required in the Hoff-Arbib theory, namely state look-ahead and Time-To-Go (TTG) estimation. By the simulation for two-dimensional motion of arm transport and hand preshape, the results demonstrate that some key features of human reach-grasp kinematics obtained by Hoff-Arbib model can be achieved by the cerebellum control model and some performances are even better. In a word, by learning and training, this model can create a more accurate and smooth motor trajectory.