The invention discloses an intelligent
motion control system with a body, which comprises a
system-on-
chip, the
system-on-
chip is provided with a plurality of interfaces, the system-on-
chip is integrated with a multi-core CPU and a
graphics processor, the system-on-chip runs an NECRO real-time
operating system, and the
control system comprises a multi-mode acquisition unit for receiving environment information acquired by an external sensor; the
large model processing unit is used for calculating a task instruction according to the environment information; the
motion control unit is used for calculating the motion track and speed of each joint controller of the
robot according to the task instruction, generating a motion instruction and issuing the motion instruction to the joint controllers of the
robot, the CPU comprises a plurality of cores, each core is correspondingly connected with an
EtherCAT network port, the
EtherCAT network ports are used for being connected with the joint controllers of the
robot, and the
EtherCAT network ports are used for being connected with the joint controllers of the robot. And the CPU establishes a core of the CPU as a
master station according to the
external connection condition of the EtherCAT network port, and establishes a slave
station at an interface of the joint controller. According to the
control system, the plurality of master stations are adopted to control the joint controllers of the robot respectively, so that control is smoother.