This invention relates to the fields of
integrated circuit design,
robot motion control, and embodied intelligent
hardware acceleration technology. Specifically, it is a joint control SoC architecture integrating multi-precision neural network compensation and an
online learning engine. This architecture includes a main control subsystem, a real-time kernel subsystem, an intelligent compensation subsystem, a data preprocessing unit, and an
online learning engine integrated within a
single chip via a dedicated interconnect
bus. A RISC-V processor is used for high-level control, a hardware-embedded FOC engine achieves high-frequency real-time closed-
loop control, a lightweight NPU performs nonlinear compensation
inference, the data preprocessing unit achieves
nanosecond-level alignment of multi-precision data, and the
online learning engine achieves non-blocking hardware-autonomous weight updates through shadow weight SRAM. This invention significantly improves the real-time performance of
robot joint control, solves the precision
degradation problem caused by
mechanical wear during long-term operation, and achieves efficient
collaboration between AI algorithms and industrial control algorithms. It is suitable for integrated joint control of humanoid robots and other intelligent devices.